YASKAWA
DX100 OPTIONS
INSTRUCTIONS
FOR DATA TRANSMISSION FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
]MOTOMAN INSTRUCTIONS
MOTOMAN-INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 Operator’s Manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 157449-1CD
Revision: 0
YASKAWA
MANUAL NO. RE-CKI-A456
DX100
MANDATORY
•
This manual explains the data transmission function of the DX100
system. Read this manual carefully and be sure to understand its
contents before handling the DX100.
•
General items related to safety are listed in Chapter 1: Safety of the
DX100 Instructions. To ensure correct and safe operation, carefully
read the DX100 Instructions before reading this manual.
CAUTION
•
Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
•
The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
•
YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
•
If such modification is made, the manual number will also be
revised.
•
If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
•
YASKAWA is not responsible for incidents arising from
unauthorized modification of its products. Unauthorized
modification voids your product's warranty.
ii
DX100
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
WARNING
CAUTION
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
Indicates a potentially hazardous
situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.
Always be sure to follow explicitly the
MANDATORY items listed under this heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items
NOTE
To ensure safe and efficient operation at all times, be sure to
follow all instructions, even if not designated as "CAUTION"
and "WARNING".
iii
DX100
WARNING
•
Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
•
Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
•
Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
•
Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
•
Injury may result if anyone enters the P-point maximum envelope of
the manipulator during operation. Always press an emergency stop
button immediately if there is a problem.
The emergency stop buttons are located on the right of front door of
the DX100 and the programming pendant.
iv
DX100
CAUTION
•
Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
•
Always return the programming pendant to the hook on the cabinet
of the DX100 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
•
Read and understand the Explanation of Warning Labels in the
DX100 Instructions before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
DX100 controller
DX100
DX100 programming pendant
Programming pendant
Cable between the manipulator and the
controller
Manipulator cable
v
DX100
Descriptions of the programming pendant, buttons, and displays are
shown as follows:
Equipment
Manual Designation
Programming Character
Pendant
Keys
The keys which have characters printed on
them are denoted with [ ].
ex. [ENTER]
Symbol
Keys
The keys which have a symbol printed on them
are not denoted with [ ] but depicted with a small
picture.
ex. page key
The cursor key is an exception, and a picture is
not shown.
Axis Keys
Number Keys
“Axis Keys” and “Number Keys” are generic
names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a “+”
sign between them, ex. [SHIFT]+[COORD]
Displays
The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.
vi
DX100
Contents
1 Outline ............................................................................................................................................ 1-1
1.1 DCI Function...................................................................................................................... 1-2
1.2 Stand-alone Function......................................................................................................... 1-3
1.3 Host Control Function ........................................................................................................ 1-4
2 For Using Data Transmission Function........................................................................................... 2-1
2.1 Remote Mode .................................................................................................................... 2-1
2.1.1 Remote Mode ....................................................................................................... 2-1
2.1.2 Command Remote Valid/Invalid ........................................................................... 2-3
2.1.3 Display in Command Remote Mode..................................................................... 2-4
2.2 Serial I/F Port Assignment ................................................................................................. 2-5
2.3 Parallel Operation of DX100 .............................................................................................. 2-6
2.3.1 No Multiple-operation of DCI, Stand-alone, and Host Control Functions ............. 2-6
2.3.2 File Access and Editing for a Single Target.......................................................... 2-6
2.4 Transmission Specifications .............................................................................................. 2-7
2.4.1 Basic Specifications.............................................................................................. 2-7
2.4.2 Transmission Control Characters ......................................................................... 2-7
2.4.3 Transmission Format............................................................................................ 2-8
2.4.4 Error Control System ............................................................................................ 2-9
2.4.5 Character Configuration ....................................................................................... 2-9
2.4.6 Data Link Establishment..................................................................................... 2-10
2.4.7 Configuration of Heading and Text..................................................................... 2-10
2.4.8 Transmission Parameters................................................................................... 2-11
2.4.8.1 Transmission Control Monitoring Timer ................................................ 2-11
2.4.8.2 Transmission Control Resending Sequence ......................................... 2-12
2.4.9 Connection of D-SUB Connector Pins................................................................ 2-13
2.4.10 Connection ....................................................................................................... 2-13
3 DCI Function ................................................................................................................................... 3-1
3.1 Outline ............................................................................................................................... 3-1
3.2 Commands for Job Transmission ...................................................................................... 3-2
3.2.1 LOADJ .................................................................................................................. 3-2
3.2.1.1 Function .................................................................................................. 3-2
3.2.1.2 Configuration ........................................................................................... 3-2
3.2.2 SAVEJ .................................................................................................................. 3-3
3.2.2.1 Function .................................................................................................. 3-3
3.2.2.2 Configuration ........................................................................................... 3-3
vii
DX100
Contents
3.2.3 DELETEJ .............................................................................................................. 3-4
3.2.3.1 Function................................................................................................... 3-4
3.2.3.2 Configuration ........................................................................................... 3-4
3.2.4 SWAIT .................................................................................................................. 3-4
3.2.4.1 Function................................................................................................... 3-4
3.2.4.2 Configuration ........................................................................................... 3-4
3.3 Commands for Variable Transmission............................................................................... 3-5
3.3.1 LOADV ................................................................................................................. 3-5
3.3.1.1 Function................................................................................................... 3-5
3.3.1.2 Configuration ........................................................................................... 3-5
3.3.2 SAVEV.................................................................................................................. 3-5
3.3.2.1 Function................................................................................................... 3-5
3.3.2.2 Configuration ........................................................................................... 3-5
3.4 Registering DCI Instruction ................................................................................................ 3-6
3.5 Concurrent Tasks from Multiple Jobs .............................................................................. 3-10
3.6 DCI Parallel Execution ..................................................................................................... 3-11
3.6.1 Parallel Execution Using NWAIT ........................................................................ 3-11
3.6.2 Parallel Execution Using PSTART (Optional)..................................................... 3-12
3.7 Transmission Procedure .................................................................................................. 3-13
3.7.1 Job Transmission................................................................................................ 3-13
3.7.1.1 Saving Procedure .................................................................................. 3-13
3.7.1.2 Loading Procedure ................................................................................ 3-14
3.7.2 Variable Transmission ........................................................................................ 3-15
3.7.2.1 Saving Procedure .................................................................................. 3-15
3.7.2.2 Loading Procedure ................................................................................ 3-15
3.8 Axis Data Transmission Format....................................................................................... 3-18
3.9 Alarm Codes .................................................................................................................... 3-19
4 Stand-alone Function ...................................................................................................................... 4-1
4.1 Outline ............................................................................................................................... 4-1
4.2 Operation Flow................................................................................................................... 4-2
4.3 Operation ........................................................................................................................... 4-3
4.3.1 Selecting External Memory Unit ........................................................................... 4-3
4.3.2 Save ..................................................................................................................... 4-4
4.3.2.1 Saving Job............................................................................................... 4-4
4.3.2.2 Saving File............................................................................................... 4-6
4.3.3 Load...................................................................................................................... 4-8
4.3.3.1 Loading Job ............................................................................................. 4-8
4.3.3.2 Loading File ............................................................................................. 4-9
viii
DX100
Contents
4.3.4 Job Selection Mode ............................................................................................ 4-11
4.3.4.1 Single Selection Mode .......................................................................... 4-11
4.3.4.2 Related Selection Mode ........................................................................ 4-11
4.3.4.3 Switching Selection Mode ..................................................................... 4-12
4.3.5 Selecting Job and Data File................................................................................ 4-13
4.3.5.1 EACH Selection .................................................................................... 4-13
4.3.5.2 BATCH Selection .................................................................................. 4-13
4.4 Transmission Procedure.................................................................................................. 4-13
5 Host Control Function of DX100 ..................................................................................................... 5-1
5.1 File Data Transmission Function ....................................................................................... 5-1
5.1.1 Transmission Procedure....................................................................................... 5-2
5.1.1.1 Load ........................................................................................................ 5-2
5.1.1.2 Save ........................................................................................................ 5-3
5.1.2 Data Management ................................................................................................ 5-4
5.2 Robot Control Function...................................................................................................... 5-5
5.2.1 Command Transmission....................................................................................... 5-5
5.2.2 List of Interlock for Commands of Host Control Function ..................................... 5-7
5.2.3 Command that Handle Axis Data ......................................................................... 5-9
5.2.4 Response to MOV-type Command....................................................................... 5-9
5.2.5 Status Read Function ......................................................................................... 5-10
5.2.5.1 Read/Monitor Command ....................................................................... 5-10
5.2.5.2 Read/Data Access System Commands ................................................ 5-19
5.2.6 System Control Function .................................................................................... 5-25
5.2.6.1 Operation System Commands .............................................................. 5-25
5.2.6.2 Start-up System Commands ................................................................. 5-32
5.2.6.3 Editing System Commands ................................................................... 5-39
5.2.6.4 Job Selection System Commands ........................................................ 5-46
5.2.7 I/O Read/Write Function ..................................................................................... 5-47
5.2.7.1 Transmission Procedure ....................................................................... 5-47
5.2.7.2 Read-out of I/O Signal Status ............................................................... 5-48
5.2.7.3 Write-in of I/O Signal Status .................................................................. 5-49
5.3 Commands for Multi-control Group and Independent Control Functions ........................ 5-50
5.3.1 Commands for Multi-control Group .................................................................... 5-50
5.3.2 Commands for Independent Control Function.................................................... 5-51
5.4 Alarm Codes .................................................................................................................... 5-52
5.5 Interpreter Message List .................................................................................................. 5-53
6 Data List.......................................................................................................................................... 6-1
6.1 Header Number List........................................................................................................... 6-1
ix
DX100
Contents
6.2 Parameter List.................................................................................................................... 6-3
7 Comparison of Data Transmission Functions ................................................................................. 7-1
8 Remote Function Setting................................................................................................................. 8-1
x
1
Outline
DX100
1
Outline
The data transmission function is for communication with a host computer
such as a personal computer in BSC complying protocol.
The data transmission function adopts a serial transmission line and
standard protocol, making easy connection to a host computer.
The data transmission function is not only for transmission of job but also
for controlling robot system by a host computer using a set of commands.
The robot commands in the ASCII code command format are easy to use
and helpful for a quick development of necessary software to be run on
the host computer.
The data transmission function is divided into the following three
functions.
• DCI (Data Communication by Instruction)
• Stand-alone function
• Host control function
DX100
Host computer
(personal computer, etc.)
Data transmission
1-1
1
1.1
DX100
1.1
Outline
DCI Function
DCI Function
The DCI function executes instructions described in a job to perform data
transmission with a host computer.
This function loads and saves jobs and variables.
DX100
Host computer
(personal computer, etc.)
Job
Execute
Table 1-1: DCI Function
Job
Load
Transmission Save
Job can be transmitted in either mode.
• Single job
Delete
Variable
Load
Transmission
• Related job
• Byte type global variables
• Integer type global variables
Save
• Double precision type global variables
• Real number type global variables
• Position type global variables
(Robot axes, base axes, station axes)
1-2
1
1.2
DX100
1.2
Outline
Stand-alone Function
Stand-alone Function
The stand-alone function is for data transmission with host computer by
operation on the programming pendant.
This function loads and saves jobs and condition data.
DX100
Host computer
(personal computer, etc.)
Operation
Table 1-2: Stand-alone Function
Job Transmission
Load
Condition Data/
General Data
Transmission
Save
Job can be transmitted in either mode.
• Single job
Verify
• Related job
Load
• Tool data
Save
• Weaving data
Verify
• User coordinate data
• Welding data
• Variable data
System Information
Transmission
Save
• System information
• Alarm history
1-3
1
1.3
DX100
1.3
Outline
Host Control Function
Host Control Function
The host control function is for loading and saving jobs, reading robot
status, and controlling the system by sending a command from a host
computer.
DX100
Host computer
(personal computer, etc.)
Operation
1-4
DX100
1
1.3
Outline
Host Control Function
Table 1-3: Host Control Function
File Data
Transmission
Function
Robot Control
Function
Job
Load
Transmission Save
Jobs can be transmitted in either
mode :
• Single job
• Related job
Condition
Load
Data/
General Data
Transmission Save
• Tool data
• Weaving data
• User coordinate data
• Welding data
• Variable data
System
Save
Information
Transmission
• System information
• Alarm history
Status
Reading
• Read of error and alarm codes
• Read of current position in a joint coordinate system
• Read of current position in a specified Cartesian coordinate system
• Read of mode, cycle, motion, alarm error
and servo status
• Read of current job name, line No. and step
No.
• Read of all job names or related job names
• Monitoring completion of manipulator operation
• Read of specified user coordinate data
• Read of control group and task selected
status
• Read of variable data
System
Control
• Start, hold
• Reset, cancel
• Job deletion
• Master job setup
• Job, line No. and step No. setup
• Mode and cycle selection
• Servo power supply ON/OFF
• Programming pendant interlock setup/
release
• Message display
• Joint motion and linear motion to a specified Cartesian coordinate system
• Linear motion by increments in a specified
coordinate system
• Joint motion and linear motion to a specified joint coordinate system
• Conversion/reverse conversion of related
job of a specified job (Relative job function
is necessary)
• Write of specified user coordinate data
• Change of control group
• Change of task to be controlled
• Write of variable data
1-5
2
2.1
DX100
2
For Using Data Transmission Function
Remote Mode
For Using Data Transmission Function
2.1
Remote Mode
The data transmission function can be used with DX100 in remote mode.
2.1.1
Remote Mode
To use the data transmission function, set DX100 to remote mode.
In remote mode, the operation is ordered from a host computer ; whereas
in local mode, teach mode, and play mode, the programming pendant is
used for operating the system.
To switch to the remote mode or the local mode, either
1. Set the mode key on the programming pendant to [REMOTE].
REMOTE
PLAY
TEACH
– The remote mode has two sub-modes ; “I/O remote enable” and
“Command remote enable”.
– Which sub-mode takes effect in remote mode is set in the pseudo
input display.
SUPPLE
-MENT
For details, refer to chapter 8 “Remote Function Setting” at
page 8-1.
de
l
ca
mo
Teach mode
Lo
Remote mode
x I/O remote enable
x Command remote enable
Play mode
2-1
DX100
2
2.1
For Using Data Transmission Function
Remote Mode
Operation-site
Mode
Operation-site Condition to Enable the Operation
Local Mode
Programming
pendant
The remote lamp is OFF, or “INHIBIT PP/
PANEL” in the pseudo input display is set
to invalid.
I/O remote External I/O
enable
control board
The remote lamp is ON, and “INHBIT IO”
in the pseudo input display is set invalid.
External
Command computer
remote
enable
The remote lamp is ON, and “CMD
REMOTE SEL” in the pseudo input
display is set valid.
Remote
Mode
• In remote mode, usually operations of the programming
pendant is disabled, but they can be also enabled.
NOTE
• To enable all operations, refer to chapter 8 “Remote Function Setting” at page 8-1.
• To selectively enable some of the operations, set the
parameter S2C230. For details, refer to chapter 6.2
“Parameter List” at page 6-3.
In remote mode, operations on the programming pendant are valid except
the operation-related entries.
This holds true in “I/O remote enable” and “Command remote enable”
submodes. The concept is based on the conventional I/O control
introduced to command control.
Note that the edit-related operations cannot be entered from more than
one operating device.
In “Command remote enable” submode, to enable command remote
controls only, issue the HLOCK command.
When the HLOCK command is ON, operations on the programming
pendant are valid only hold and emergency stop.
Also the following I/O operations are disabled : selection between remote
mode and local mode, external start, external servo ON, cycle selection, I/
O prohibit, P.P/PANEL prohibit, and master job call. Other I/O operations
are valid.
2-2
DX100
2.1.2
2
2.1
For Using Data Transmission Function
Remote Mode
Command Remote Valid/Invalid
Availability of each function of data transmission differs depending on the
command remote setting (Enabled / Disabled).
When the command remote is set invalid, the read/monitor system
commands (hereinafter called read-only function) in the host control
function in addition to the DCI function and stand-alone function can be
used.
SUPPLE
-MENT
For the details of read/monitor system commands, refer to
chapter 5.2.2 “List of Interlock for Commands of Host Control Function” at page 5-7.
Command
Remote
Setting
Function Availability
Invalid
DCI function available
Stand-alone function available
Host control function (only read-only function) available
Valid
Host control function (all commands) available
To validate the read-only function in the above host control function, set
the parameter RS005 to “1”.
When the command remote is validated by pressing [REMOTE] with the
read-only function valid, the command remote status is entered so that all
commands can be used.
When the command remote is invalidated by pressing [REMOTE] again,
the read-only function becomes validated again.
Parameter
Contents and Set Value
Initial
Value
RS005
BSC port function specification when the command remote
is invalidated
0 : DCI or stand-alone function
1 : Read-only function in host control
0
2-3
DX100
2.1.3
2
2.1
For Using Data Transmission Function
Remote Mode
Display in Command Remote Mode
Even in command remote enabled submode, it is not necessary to call the
command remote display because operations from DX100 is available.
To call the command remote display, select “REMOTE” from “I/O” under
the top menu.
This display is used in common with the I/O remote mode display.
The message in the remote display changes according to the remote
function selection. (Refer to chapter 8 “Remote Function Setting” at
page 8-1.)
A message shown in
the table below is displayed.
Remote Select Status Message
Remarks
I/O
Remote
Command
Remote
×
×
“Remote mode not
specified”
Same when the remote
lamp is OFF.
{
×
“I/O mode”
×
{
“Command mode”
Only when the remote
lamp is ON.
{
{
“I/O and Command mode”
Read-only Function
Valid
“Remote mode not
specified”
{ : Valid, × : Invalid
2-4
“CURR” and “PREV” are
displayed.
2
2.2
DX100
2.2
For Using Data Transmission Function
Serial I/F Port Assignment
Serial I/F Port Assignment
The DX100 has one serial interface port (RS-232CI/F).
The FC1 protocol and the BSC complying protocol (for data transmission
function : option) can be assigned to the port to communicate with
external devices.
A change in assignment can be made only in local mode.
Parameter
Contents and Set Value
Initial
Value
RS000
Standard port protocol specification
0 : NON
1 : System reserved
2 : BSC LIKE (Data transmission function)
3 : FC1
2
Fig. 2-1: CPU Unit Configuration (JZNC-NRK-01 - )
Sensor board
Dedicated PCI slot X1
Robot I/F board
JANCD-YIF01- E
(CN114) IO I/F
(Communication with YIU)
Control circuit board
JANCD-YCP01-E
LED
(CN107)
Compact Flash
(CN113) Drive I/F
(Communication with EAXA)
(CN106)
USB
(CN105)
For programming pendant
PCI slot X2
(CN104)
For LAN
(CN103)
Serial Port (RS232C)
Battery
2-5
2
2.3
DX100
2.3
For Using Data Transmission Function
Parallel Operation of DX100
Parallel Operation of DX100
The DX100 is capable of parallel processing.
For instance, it can check signals with programming pendant while saving
files to YASNAC FC2, or can edit files with the programming pendant
while monitoring operation status by the host control function.
The parallel operation has the following restrictions. When an operation
against these restrictions is made, a warning message is displayed.
2.3.1
Operation
Warning
YASNAC FC2
Stand-alone
Programming pendant
Error message for 3 seconds
DCI
Alarm
Host control
Interpreter message
(or error message)
No Multiple-operation of DCI, Stand-alone, and Host Control Functions
All DCI, stand-alone, and host control use BSC LIKE protocol and the
same port, therefore these functions cannot be performed by parallel
processing.
Warning message : Serial port not defined
Warning message : Serial port being used
Warning message : Protocol being used
2.3.2
File Access and Editing for a Single Target
Access to a single target file is available. Parallel processing of reads
from two or more sources is impossible.
During access to a file for other function, the HLOCK command of the host
control function cannot be issued.
Key operations are ignored while the HLOCK command is ON.
Warning message : Data accessed with other functions
2-6
2
2.4
DX100
2.4
For Using Data Transmission Function
Transmission Specifications
Transmission Specifications
This section explains the transmission specifications for the data
transmission.
2.4.1
Basic Specifications
Interface
Complies to RS-232C (RS/CS method)
Transmission Speed
9600 bps
Transmission Mode
Half-duplex transmission system (point-to-point)
Synchronization
system
Asynchronous (stop bit 1)1)
Protocol
BSC LIKE
Transmission Code
ASCII, shift JIS
8-bit data length 1)
Even parity 1)
Nontransparent
Error Check
BCC
Response Method
ACK alternating response
1 Can be changed by transmission parameter setting
2.4.2
Transmission Control Characters
The transmission control characters are shown in the table below.
Table 2-1: Transmission Control Characters and Codes
Control
Character
Code
(hexadecimal)
Meanings of Control Character
DLE
SOH
STX
ETX
EOT
ENQ
NAK
ETB
ACK0
ACK1
10
01
02
03
04
05
15
17
10, 30
10, 31
Data Link Escape
Start of Heading
Start of Text
End of Text
End of Transmission
Enquiry
Negative Acknowledgment
End of Text Block
Even Affirmative Acknowledgment
Odd Affirmative Acknowledgment
2-7
DX100
2.4.3
2
2.4
For Using Data Transmission Function
Transmission Specifications
Transmission Format
The transmission format is as follows.
S
O
H
HEADING
S
T
X
TEXT
E
T
B
BCC
S
O
H
HEADING
S
T
X
TEXT
E
T
X
BCC
S
T
X
TEXT
E
T
B
BCC
S
T
X
TEXT
E
T
X
BCC
E
N
Q
E
O
T
N
A
K
ACK0
ACK1
2-8
DX100
2.4.4
2
2.4
For Using Data Transmission Function
Transmission Specifications
Error Control System
The error control is performed by a check sum of all the characters from
SOH or STX to ETB or ETX.
The check sum is calculated as shown below.
<Example>
S
T
X
E
T BCC
X
TEXT
0000 0101
0000 0000
0011 0110
1010 1100
1111 0001
0000 0011
+
0000 0001 1101 1011
• Start of calculation : Calculation is started when SOH or STX used
as the block start sequence appears.
These block start sequence are not included in the sum.
As for a STX led by a SOH, STX is included in the sum.
• End of calculation : Calculation is ended when ETB or ETX used as
the block end sequence appears, with the ETB or ETX included in
the sum.
2.4.5
Character Configuration
The character configuration is as follows.
Start bit
Stop bit
b1
b2
b3
b4
b5
b6
b7
b8
bp
Parity bit
2-9
DX100
2.4.6
2
2.4
For Using Data Transmission Function
Transmission Specifications
Data Link Establishment
A data link is established by responding ACK0 to ENQ.
2.4.7
Configuration of Heading and Text
The configuration of heading and text is as follows.
Heading 6 characters fixed
S
O
H
Max. 256 characters
S
T
X
TEXT
Subcode No.
, (comma)
Header No.
2-10
E
T
B
BCC
DX100
2.4.8
2.4.8.1
2
2.4
For Using Data Transmission Function
Transmission Specifications
Transmission Parameters
Transmission Control Monitoring Timer
Two timers are provided for transmission control monitoring.
Both are transmission parameters so that their settings can be changed
for each system.
• Timer A : Sequence monitoring timer. Serves as protection against
invalid or no response.
Recommended value is 3 sec.
• Timer B : Text reception monitoring timer. Serves as protection
against no response of text end character.
Recommended value is 20 sec.
DX100
DX100
Host
computer
Host
computer
ENQ
ENQ
Timer A
ACK0
ACK0
Timer B
Data
Data
Timer A
ACK1
ACK1
Timer B
EOT
EOT
2-11
DX100
2
2.4
For Using Data Transmission Function
Transmission Specifications
2.4.8.2
Transmission Control Resending Sequence
Two constants below are related to the transmission control resending
sequence.
Both are transmission parameters like the transmission control monitoring
timers, whose settings can be changed for each system.
• Retry 1 : Number of resendings of a sequence character at an invalid
or no response at all.
Recommended value is 10 times.
• Retry 2 : Number of resendings of a text at a block check error
(reception of NAK).
Recommended value is 3 times.
Parameter Contents and Set Value
Initial
Value
RS030
Number of data bits 7 : 7 (bit)
8 : 8 (bit)
8
RS031
Number of stop bits 0 : 1 (bit)
1 : 1.5
2:2
0
RS032
Parity specification
2
RS033
Transmission speed specification
RS034
Timer A
Sequence monitoring timer
Serves as protection against invalid
or no response
Unit : 0.1 sec. (Setting range : 0 to 100)
30
RS035
Timer B
Text reception monitoring timer
Serves as protection against no response
of text end character
Unit : 0.1 sec. (Setting range : 0 to 255)
200
RS036
Retry 1
Number of resendings of a sequence
character
at an invalid or no response
(Setting range : 0 to 30)
10
RS037
Retry 2
Number of resendings of a text at a block
check error (reception of NAK).
(Setting range : 0 to 10)
3
RS038
Block check method
2-12
0 : No specification
1 : Odd parity
2 : Even parity
1 : 150 (baud rate) 7
2 : 300
3 : 600
4 : 1200
5 : 2400
6 : 4800
7 : 9600
8 : 19200
0 : Check sum
0
2
2.4
DX100
2.4.9
For Using Data Transmission Function
Transmission Specifications
Connection of D-SUB Connector Pins
The connection of D-SUB connector pins is shown below.
Fig. 2-2: YCP01 board (D-SUB9P)
DX100
2.4.10
CD
1
Carrier detect
RD
2
Data receive
SD
3
Data send
ER
4
Data terminal ready
SG
5
Grounding for signal
RS
7
Request to send
CS
8
Sending enabled
FG
9
Protective grounding
Connection
Since the system is “null-modem”, connect the pins as shown below.
Fig. 2-3: YCP01 board
Host Computer
DX100
SD
3
2
RD
RD
2
3
SD
RS
7
5
SG
CS
8
7
RS
SG
5
8
CS
9
FG
• Connect “RS” of the DX100 to “CS” of a host computer.
This prevents data overrun when reception processing speed of the
DX100 cannot catch up with data sending from the host computer.
In other words, “RS” signal from the DX100 controls start-hold of
data transmission from the host computer.
The sending interface controller must be capable of coping with CS
input displacement in units of a single byte.
• The DX100 sends data when the “CS” signal is ON.
2-13
3
3.1
DX100
3
DCI Function
Outline
DCI Function
3.1
Outline
The data communication by instruction (DCI) function loads, saves jobs
and variables according to an instruction that executes data transmission
with a host computer.
The DCI function is classified as follows.
• Job load, save and delete functions
• Variable load and save functions
DX100
Host computer
(personal computer, etc.)
Job
Execute
3-1
3
3.2
DX100
3.2
3.2.1
3.2.1.1
DCI Function
Commands for Job Transmission
Commands for Job Transmission
LOADJ
Function
Loads specified jobs as single or related jobs, from the external memory
unit to the memory of the DX100.
3.2.1.2
Configuration
LOADJ
JOB:<Job name>
IG#<Input group No.>
B<Variable No.>
Unit of
loading
JBI, JBR
NWAIT
IF statement
• If the DX100 memory already contains a job having the same name
as the job to be loaded, the existing job is deleted and the new job is
loaded.
However, if the job to be loaded is as follows, an alarm occurs.
• Execution starting job
• Job under execution/halting
• Job registered in job call stack
• Specify input group numbers (BCD/BIN, parity specification), and
variable numbers in the same way as for the CALL command.
If the pattern input value is 0, the operation is not executed.
A variable number 0 is valid.
• Unit of loading : Select either a single job (JBI) or related jobs (JBR)
• When the NWAIT is specified, the next instruction is executed without waiting completion of job loading.
• While a job is being loaded by the LOADJ command for which
NWAIT is specified, if an access is attempted to a job called by the
CALL command or JUMP command, an alarm occurs.
If a LOADJ or SAVEJ command has already been executed, a job is
loaded after completion of the execution.
3-2
3
3.2
DX100
3.2.2
3.2.2.1
DCI Function
Commands for Job Transmission
SAVEJ
Function
Saves a specified job as single or related jobs, from the memory of the
DX100 to the external memory unit.
3.2.2.2
Configuration
SAVEJ
JOB:<Job name>
IG#<Input group No.>
B<Variable No.>
Unit of
saving
JBI, JBR
NWAIT
IF statement
• Specify input group numbers (BCD/BIN, parity specification), and
variable numbers in the same way as for the CALL command.
If the pattern input value is 0, the operation is not executed.
A variable number 0 is valid.
• Unit of saving : Select either a single job (JBI) or related jobs (JBR).
• When the NWAIT is specified, the next command is executed without
waiting completion of job saving.
When a LOADJ or SAVEJ command has already been executed, a
job is saved after completion of the execution.
3-3
3
3.2
DX100
3.2.3
DELETEJ
3.2.3.1
Function
DCI Function
Commands for Job Transmission
Deletes all jobs except its own job or specified jobs as single or related
jobs, from the memory of the DX100.
3.2.3.2
Configuration
Unit of
deleting
JBI, JBR
IF
statement
• Unit of deleting : Select either a single job (JBI) or related jobs (JBR).
• The following jobs cannot be deleted.
• Execution starting job
• Job under execution/halting
• Job registered in job call stack
3.2.4
3.2.4.1
SWAIT
Function
Waits for completion of loading or saving jobs or variables.
Use this command to recognize a completion of LOADJ, SAVEJ, LOADV,
and SAVEV commands when a NWAIT is specified for these instructions.
3.2.4.2
Configuration
SWAIT
3-4
3
3.3
DX100
3.3
3.3.1
3.3.1.1
DCI Function
Commands for Variable Transmission
Commands for Variable Transmission
LOADV
Function
Loads the specified global variables from an external memory unit to the
DX100 memory.
3.3.1.2
Configuration
LOADV
3.3.2
3.3.2.1
Byte type global variable
Integer type global variable
Double precision type global variable
Real number type global variable
Position type (robot axis) global variable
Position type (base axis) global variable
Position type (station axis) global variable
NWAIT
SAVEV
Function
Saves the specified global variables from the DX100 memory to a external
memory unit.
3.3.2.2
Configuration
SAVEV
Byte type global variable
Integer type global variable
Double precision type global variable
Real number type global variable
Position type (robot axis) global variable
Position type (base axis) global variable
Position type (station axis) global variable
3-5
NWAIT
3
3.4
DX100
3.4
DCI Function
Registering DCI Instruction
Registering DCI Instruction
1. Move the cursor to the address area.
2. Move the cursor to the line where an instruction is to be registered in
the job content display.
– In the job content display in teach mode, move the cursor to the line
just above the place where an instruction is to be registered.
Line just above the place
where an instruction is
to be registered
3. Press [INFORM LIST].
4. Select an instruction to be registered.
– The instruction list dialog is displayed.
3-6
DX100
3
3.4
DCI Function
Registering DCI Instruction
– The cursor moves to the instruction list dialog while the cursor in the
address area changed to an underline.
The instruction where the cursor is positioned is displayed with the
previously registered additional items in the input buffer line.
5. Change the additional items and variable data.
– <To register items as displayed in the input buffer>
(1) Perform operation described in the step 6 below.
– <To edit any additional items>
(1) With the cursor on the instruction to be registered, press
[SELECT].
– The cursor moves to the input buffer line.
• Changing a numerical value data of additional items
I)
Move the cursor to the additional item whose numerical value
is to be changed. Pressing simultaneously [SHIFT] and the cursor key increments or decrements the value.
II)
To enter a value by pressing the number key, press [SELECT]
to display the input line.
Enter a value, then press [ENTER]. The value displayed in the
input line is changed.
3-7
DX100
3
3.4
DCI Function
Registering DCI Instruction
• Adding, changing, or deleting the additional items
– To add, change or delete the additional items, select an instruction
in the input buffer line to display the detail edit display.
• Adding the additional item
I)
Select “NOT USED” of an additional item selection status, then
display the selection dialog.
II)
Select an additional item to be added.
• To delete an additional item, move the cursor to an additional item to
be deleted, then select “NOT USED” to delete.
• Changing the data type
(1)
To change the data type of additional item, move the cursor to the
of the additional item and press [SELECT] to select a data
type.
(2) After having added, changed or deleted the addtional items, press
[ENTER].
– The detail edit display is ended and the job content display appears.
3-8
DX100
3
3.4
DCI Function
Registering DCI Instruction
6. Press [INSERT] and [ENTER].
– The instruction displayed in the input buffer line is registered.
– To register an instruction just before an END instruction, it is not
necessary to press [INSERT].
3-9
3
3.5
DX100
3.5
DCI Function
Concurrent Tasks from Multiple Jobs
Concurrent Tasks from Multiple Jobs
As an option, commands related to DCI function can be executed from
more than one job simultaneously. The operations are explained below.
• The DCI related commands can be executed in any job regardless of
distinction among the ordinary job, concurrent job (option), or job
activated in series (option).
• Multiplexing of DCI transmission function is not supported. Therefore, it is impossible to manipulate files on two or more external
memory units (such as personal computer) connected to the DX100.
• If two or more commands related to DCI function are issued concurrently, the execution starts after completion of processing of the currently executing command. Therefore, if a module issues a
command request while another module is executing DCI function,
the request has to wait until the ongoing processing completes.
3-10
3
3.6
DX100
3.6
DCI Function
DCI Parallel Execution
DCI Parallel Execution
By using the function described below, the DCI instruction can be
executed in parallel with general instructions such as a move instruction
and operating instruction.
When this function is used, the robot can be moved or the calculation is
executed during data transmission ; this function is effective for reduction
of tact time, etc.
3.6.1
Parallel Execution Using NWAIT
NOP
MOVJ VJ=50.00
MOVJ VJ=50.00
LOADJ JOB:ABC JBI NWAIT x x x c
MOVJ VJ=50.00 x x x x x x x x x x x x x xd
MOVJ VJ=50.00 x x x x x x x x x x x x x xe
SWAIT x x x x x x x x x x x x x x x x x x x x x f
CALL JOB:ABC x x x x x x x x x x x x x x g
xxx
END
In the above job, when the command c is executed, loading of the host
computer and the job are executed.
Normally, when NWAIT is not specified, the commands of d and after are
not executed until the job loading is completed. However, when NWAIT is
specified, the commands d and e are executed sequentially during the
job loading ; at execution of SWAIT command f, the execution of
command g is waited for the job “ABC” loading is completed.
At the time of completion of job “ABC” loading, the command g is
executed to execute the job “ABC”.
At this time, if SWAIT command is not specified before the command g,
the command g is executed during the loading of job “ABC”, and an alarm
occurs.
Therefore, be sure to verify that loading is completed before executing a
job to be loaded, by using SWAIT command.
To load/save variables, be sure to input a SWAIT command before using
variables to be loaded/saved as shown below.
(Correct)
(Wrong)
NOP
xxx
LOADV B000 NWAIT
xxx
SWAIT
SET B001 B000
NOP
xxx
LOADV B000 NWAIT
xxx
SET B001 B000
3-11
DX100
3
3.6
DCI Function
DCI Parallel Execution
3.6.2
Parallel Execution Using PSTART (Optional)
By using an independent control command (optional), DCI commands can
be executed in parallel with general commands.
For example, to execute the job “R1” for robot 1 is to be executed in
parallel with the job “S1” for station 1 during job loading, the following
procedure is taken :
Job “R1” : Job for robot 1
Job “S1” : Job for station 1
［JOB:R1］
［JOB:S1］
NOP
MOVJ VJ=50.00
MOVJ VJ=50.00
PSTART JOB:S1 SUB1 x x x c
LOADJ JOB:ABC x x x x x x x d
PWAIT x x x x x x x x x x x x x x x xe
CALL JOB:ABC x x x x x x x x xf
END
NOP
MOVJ VJ=50.00
MOVJ VJ=50.00
END
When PSTART command c is executed, the job “S1” starts execution in
parallel with the job “R1”.
The job “ABC” is loaded by the command d during execution of the job
“S1” ; when loading is completed, the DX100 waits for the job “S1” to be
completed by the command e.
When the execution of job “S1” is completed, the job “ABC” is executed by
the command f.
3-12
3
3.7
3.7.1
Job Transmission
3.7.1.1
Saving Procedure
Transmission Procedure
The transmission from the DX100 to a host computer proceeds as follows.
DX100 → Host computer
1. The ENQ code is sent out to establish a data link.
2. After the data link is established, data are sent out to the host
computer.
3. After the transmission completes, the DX100 waits for a response
from the host computer to verify the completion of transmission.
Therefore, the host computer should return a response.
4. The transmission is terminated upon receipt of the response from the
host computer.
The data type is distinguished by the header number and the subcode
number. Refer to the header number list.
ENQ
ACK0
SOH 02, 001 STX
*1
File name
ETB
BCC
ACK1
STX
Data
ETB
BCC
ACK0
STX
Data
ETX
BCC
*2
ACK
Host computer
3.7
DCI Function
Transmission Procedure
DX100
DX100
EOT
ENQ
ACK0
SOH 90, 000 STX
*3
Data
ETX
BCC
ACK1
EOT
*1
*2
*3
File name : CR (File name does not include extension.)
ACK0 or ACK1
Normal completion : 0000CR (ASCII code)
Abnormal completion : Integer except 0000 CR (ASCII code)
3-13
3
3.7
DX100
Loading Procedure
The transmission from a host computer to the DX100 proceeds as follows.
Host computer → DX100
1.
The ENQ code is sent out to establish a data link.
2.
After the data link is established, a request to send is sent out to the
host computer.
3.
When the request to send is accepted, the DX100 enters receiving
status, waiting for the ENQ code from the host computer. Therefore,
the host computer should send data after the data link is established.
4.
The transmission is terminated at completion of data reception from
the host computer.
A request to send consists of a header number and a subcode number.
Refer to the header number list.
At transmission, memory capacity is checked and if received data cannot
be stored, an alarm occurs.
If the transmission itself is normal, reception is continued and an alarm is
displayed after the transmission is terminated.
If an error occurs during reception, the job data will not be stored.
ENQ
ACK0
SOH 02, 051
STX
*1
File name
ETX
BCC
ACK1
EOT
ACK0
SOH 02, 001
STX
*1
File name
ETB
BCC
STX
Data
ETB
BCC
STX
Data
ETX
BCC
ACK1
*2
ACK
EOT
*1
*2
File name : CR (File name does not include extension.)
ACK0 or ACK1
3-14
Host computer
ENQ
DX100
3.7.1.2
DCI Function
Transmission Procedure
3
3.7
DX100
3.7.2
DCI Function
Transmission Procedure
Variable Transmission
The variable transmission is performed in the same way as for the data as
shown below.
3.7.2.1
Saving Procedure
ENQ
ACK0
SOH
03,001 STX
*1
Data
CR
ETX
BCC
EOT
ENQ
Host computer
DX100
ACK1
ACK0
SOH
90,000 STX
*2
Data
CR
ETX
BCC
ACK1
EOT
Loading Procedure
ENQ
ACK0
SOH
03,051 STX
ETX
BCC
EOT
ENQ
ACK0
SOH
03,001 STX
*1
Data
CR
ETX
BCC
ACK1
EOT
For headers, refer to the header number list.
3-15
Host computer
ACK1
DX100
3.7.2.2
DX100
3
3.7
DCI Function
Transmission Procedure
*1
Byte type global
variable :
†††
(0 to 255)
Integer type
global variable :
± †††††
(-32768 to +32767)
Double precision
type global
variable :
± ††††††††††
(-2147483648 to 2137383647)
Real number type
global variable :
7 significant digits
(-1.70141E+38 to +1.70141E+38)
Position type
(robot axis)
global variable :
• Pulse type or XYZ type depending on the setting status
• The order varies depending on the number of robot's axes.
Pulse type
c 6-axis robot
S, L, U, R, B, T (Unit : pulse)
(-999999999 to 999999999)
d 7-axis robot
S, L, U, R, B, T, E (Unit : pulse)
(-999999999 to 999999999)
XYZ type
c 6-axis robot
X, Y, Z, Rx, Ry, Rz, TYPE
d0 = 0 : Flip d0 = 1 : No flip
d1 = 0 : Up d1 = 1 : Back
Unit : degree (°), significant 4 decimal points
-9999.9999 to 9999.9999
Unit : mm, significant 3 decimal points
-999999.999 to 999999.999
d 7-axis robot
X, Y, Z, Rx, Ry, Rz, Re, TYPE
d0 = 0 : Flip d0 = 1 : No flip
d1 = 0 : Up d1 = 1 : Back
Unit : degree (°), significant 4 decimal points
-9999.9999 to 9999.9999
Unit : mm, significant 3 decimal points
-999999.999 to 999999.999
Position type
(base axis)
global variable :
Position type
(station axis)
global variable :
Pulse type or XYZ type depending on the internal setting status
Pulse type
1, 2, 3 (Unit : pulse)
(-999999999 to 999999999)
XYZ type
X, Y, Z (Unit : mm, significant 3 decimal points)
(-999999.999 to 999999.999)
Pulse type
1, 2, 3, 4, 5, 6 (Unit : pulse)
(-999999999 to 999999999)
3-16
DX100
3
3.7
DCI Function
Transmission Procedure
String type global
variable
*2
String (16 halfwidth characters)
0000 or error code
The response is as follows when an error occurs in response.
SOH 90,000 STX DATA CR ETX BCC
If a stop operation (hold and emergency stop) is done during data
transmission (while jobs or variables are loaded or saved), the robot
stops but the data transmission continues.
In this case, the start lamp goes OFF.
The restart will not be accepted until completion of the data
transmission.
3-17
3
3.8
DX100
3.8
DCI Function
Axis Data Transmission Format
Axis Data Transmission Format
The DX100 data transmission function has the following restrictions on
transmission of the DX100 internal data.
The robot axes are fixed to a 6-axis set.
A base axis and a station axis are recognized as an external axis.
Up to three base axes are available. With station axis data added after
base axis data, up to six axes can be handled.
For example, SAVEV BP005 is read as SAVEV BP005 + EX005.
If the system lacks one of the variables, only the existing one is used.
If the system has both variables but not registered, an error occurs.
The definition of the robot, base, and station axes is used as it is, free of
the predetermined axis data R1, B1, and S1.
<Example>
Transmission data of SAVEV in different system configurations are
shown below.
• In a system having two base axes (X and Z) and no station axis
If BP005 is pulse type and 1st axis is 100 and 2nd axis is 200, then
SAVEV BP005 → 03, 007 100, 200, 0, 0, 0, 0
If BP005 is XYZ type and X-axis is 123.456 and Z-axis is 234.567,
then
SAVEV BP005 → 03, 008 123.456, 234.567, 0,0, 0, 0
• In a system having no base axis and three station axes
If EX005 is pulse type and 1st axis is 500, 2nd axis is 600, and 3rd
axis is 700
SAVES EX005 → 03, 007 500, 600, 700, 0, 0, 0
• In a system having two base axes (X and Z) and three station axes
If BP005 is pulse type, 1st axis is 100 and 2nd axis is 200, and
EX005 is pulse type, 1st axis is 500, 2nd axis is 600, and 3rd axis is
700, then
SAVEV BP005 → 03, 007 100, 200, 500, 600, 700, 0
(Same as for SAVEV EX005)
If BP005 is XYZ type, X axis is 123.456, and Z axis is 234.567, and
EX005 is pulse type, 1st axis is 500, 2nd axis is 600, and 3rd axis is
700, then
SAVEV BP005 → 03, 008 123.456, 234.567, 500, 600, 700, 0
(same as for SAVEV EX005)
3-18
3
3.9
DX100
3.9
DCI Function
Alarm Codes
Alarm Codes
Code
Message
Data
4104
WRONG EXECUTION OF LOAD INST
Refer to the table below
4105
WRONG EXECUTION OF SAVE INST
4106
WRONG EXECUTION OF DELETE INST
Data
Contents
001
Insufficient memory capacity
002
Job editing prohibited
003
Attempted to load or delete a job being executed.
004
No specified job
012
Position data destroyed
013
Position variable not registered
017
Instruction destroyed
019
Invalid character in job name
020
Invalid character in label
023
Invalid character in this system
024
Syntax error
090
Control command sending/receiving error (Ethernet)
104
Error response from host computer
111
Syntax error
112
Error in position data
113
No NOP or END instruction
117
Format error
118
Invalid number of data
120
Data range exceeded
122
Destroyed file exists
125
No serial port setting
126
This serial port already used.
127
This protocol already used.
128
File accessing in other function
211
System block error (Receiving EOT while waiting ACK)
212
System block error (Receiving EOT at starting receiving)
213
System block error (Receiving EOT before receiving the last block)
214
System block error (Receiving codes other than EOT before receiving
the last block)
221
Sending error (Retry for NAK exceeded)
222
Sending error (Timeup for timer A retry)
223
Sending error (ACK0/ACK1 order error after retry)
231
Receiving error (Timeup for timer A while waiting ACK after ENQ,
timeup for timer A while waiting ENQ response)
232
Receiving error (Timeup for timer B while receiving a text)
233
Receiving error (Heading length is shorter than 6 characters)
234
Receiving error (Heading length is longer than 6 characters)
3-19
DX100
3
3.9
DCI Function
Alarm Codes
Data
Contents
235
Receiving error (Header number error)
236
Receiving error (Text length exceeds 256 bytes)
237
Receiving error (Receiving other than ENQ while waiting ENQ,
receiving other than control code while waiting control code,
receiving other than STX, SOH, ENQ, EOT while waiting text)
240
Software error
241
Hardware error (Overrun)
242
Hardware error (Parity error)
243
Hardware error (Framing error)
244
Hardware error (Sending timeup (timer A))
245
Hardware error (Sending timeup (timer B))
3-20
4
4.1
DX100
4
Stand-alone Function
Outline
Stand-alone Function
4.1
Outline
In stand-alone mode, the file data transmission function is available.
By the operations on the DX100 programming pendant, file data can be
sent from the DX100 to a host computer such as personal computer to be
saved, and from a host computer to the DX100 memory to be loaded.
Load : Transmits file data from a host computer to the DX100.
Save : Transmits file data from the DX100 to a host computer.
Verify : Verifies data between the DX100 and the host computer and
informs if some parts are not matched.
DX100
Host computer
(personal computer, etc.)
Operation
The following data can be transmitted between the DX100 and a host
computer.
System information can be saved but not loaded.
• Job data
• Condition data/General data
• System information
4-1
4
4.2
DX100
4.2
Stand-alone Function
Operation Flow
Operation Flow
Transmission of file data is performed in the following manner.
<Main menu>
{EX. MEMORY}
Sub menu
{LOAD}
{SAVE}
{VERIFY}
Select a data group
Select a data
Press "EXECUTE"
End
4-2
{DEVICE}
Select a device
4
4.3
DX100
4.3
4.3.1
Stand-alone Function
Operation
Operation
Selecting External Memory Unit
1. Select {EX. MEMORY} under the main menu.
2. Select {DEVICE}.
– The device selection display is shown.
3. Select “DEVICE”.
– The selection dialog is shown.
4. Select the device to be changed.
– The device is changed.
4-3
4
4.3
DX100
4.3.2
Stand-alone Function
Operation
Save
The operation to transmit data from the DX100 to the external memory
unit is explained in the following.
4.3.2.1
Saving Job
1. Select {EX. MEMORY} under the main menu.
2. Select {SAVE}.
– The external memory menu display is shown.
3. Select “JOB”.
– The external memory job list display is shown.
4-4
DX100
4
4.3
Stand-alone Function
Operation
4. Select the job to be saved.
– The select job is marked with ““.
5. Press [ENTER].
– The confirmation dialog is shown.
6. Select “YES”.
– The job starts to be saved, and the transmission display is shown.
– To interrupt the saving, press [SELECT].
When the saving is completed or interrupted, the job content display
appears.
4-5
4
4.3
DX100
4.3.2.2
Stand-alone Function
Operation
Saving File
1. Select {EX. MEMORY} under the main menu.
2. Select {SAVE}.
– The external memory menu display is shown.
3. Select the file group to be saved.
– The file selection display is shown.
4-6
DX100
4
4.3
Stand-alone Function
Operation
4. Select the file to be saved.
– The select file is marked with “”.
5. Press [ENTER].
– The confirmation dialog is shown.
6. Select “YES”.
– The file starts to be saved, and the transmission display is shown.
– To interrupt the saving, press [SELECT].
When the saving is completed or interrupted, the file selection
display reappears.
4-7
4
4.3
DX100
4.3.3
Stand-alone Function
Operation
Load
The operation to transmit data from the external memory unit to the
DX100 is explained in the following.
4.3.3.1
Loading Job
1. Select {EX. MEMORY} under the main menu.
2. Select {LOAD}.
– The external memory menu display is shown.
3. Select “JOB”.
– The display to input the job name to be loaded is shown.
4. Enter the job to be loaded.
5. Select “EXEC”.
4-8
4
4.3
DX100
4.3.3.2
Stand-alone Function
Operation
Loading File
1. Select {EX. MEMORY} under the main menu.
2. Select {LOAD}.
– The external memory menu display is shown.
3. Select the file group to be loaded.
– The file selection display is shown.
4-9
DX100
4
4.3
Stand-alone Function
Operation
4. Select the file to be loaded.
– The selected file is marked with ““.
5. Press [ENTER].
– The confirmation dialog is shown.
6. Select “YES”.
– The file is starts to be loaded, and the transmission display is
shown.
– To interrupt the loading, press [SELECT].
When the loading is completed or interrupted, the file selection
display reappears.
4-10
4
4.3
DX100
4.3.4
Stand-alone Function
Operation
Job Selection Mode
To select a job to save, load, or verify, the following selection modes are
available.
4.3.4.1
Single Selection Mode
Only the selected job is loaded, saved, or verified.
4.3.4.2
Related Selection Mode
The selected job and the related jobs and data files are loaded, saved, or
verified.
For single selection mode
For related selection mode
Only the selected job is
loaded, saved, and verified.
The selected job and the data file
and related job are loaded, saved
and verified.
4-11
DX100
4.3.4.3
4
4.3
Stand-alone Function
Operation
Switching Selection Mode
1. Press the page key in the external memory job list display.
– Each time the page key
is pressed, the displays in “single
selection mode” and in “related selection mode” appears alternately.
4-12
4
4.4
DX100
4.3.5
Stand-alone Function
Transmission Procedure
Selecting Job and Data File
There are two ways to select a job and various data files to be loaded,
saved, verified, or deleted.
4.3.5.1
EACH Selection
Selects job and data file one by one.
4.3.5.2
BATCH Selection
Selects all the jobs and data files at once.
For BATCH selection, proceeds the following operation.
1. Select {EDIT} of the menu in the external memory job list display or the
file selection display.
– The pull down menu is displayed.
2. Select {SELECT ALL}.
4.4
Transmission Procedure
The transmission procedure is the same as for DCI function.
Refer to chapter 3.7 “Transmission Procedure” at page 3-13.
4-13
5
5.1
DX100
5
Host Control Function of DX100
File Data Transmission Function
Host Control Function of DX100
The DX100 supports the host control function which carries out the
following file data transfer or robot control according to the commands
given by the host computer.
• File data transfer function
• Robot control function
To use the host control function, the following settings should be made.
• The “COMMAND REMOTE” described in chapter 8 “Remote Function Setting” at page 8-1”, should be set valid (marked with “z”).
• The parameter RS000 should be set to “2”.
• The host control function should be validated. Whether the host control function is validated, can be verified in the “remote display”
described in chapter 2.1.3 “Display in Command Remote Mode” at
page 2-4.
5.1
File Data Transmission Function
According to commands from a host computer, the host control function
sends the stored data of user memory of the DX100 to the host computer
or receives data from the host computer.
The following data can be transmitted between the DX100 and a host
computer.
The system information can be sent only to a host computer.
• Job data
• Condition file/General data
• System information
5-1
5
5.1
DX100
Load
The transmission from a host computer to the DX100 proceeds as follows.
Host computer → DX100
1. The ENQ code is sent from the host computer to establish a data link.
2. After the data link is established, the data is sent from the host
computer.
3. After the transmission is completed, the host computer should get
ready to receive.
4. After the data link is established, a response to the data sent from the
host computer is returned from the DX100 to terminate the
transmission.
The data type is distinguished by the header number and the subcode
number.
Refer to the header number list.
Fig. 5-1: Loading File Data (Host Control Function)
ENQ
ACK0
*3
SOH 02, 001 STX
File name
ETB
BCC
ACK1
STX Data
ETB
BCC
ACK0
STX Data
ETX
BCC
*1
ACK
DX100
5.1.1.1
Transmission Procedure
Host computer
5.1.1
Host Control Function of DX100
File Data Transmission Function
EOT
ENQ
ACK0
SOH 90, 000 STX
*2
Data ETX
BCC
ACK1
EOT
*1
*2
*3
ACK0 or ACK1
Normal completion : 0000CR (ASCII code)
Abnormal completion : “Integer except 0000”CR (ASCII code)
File name : CR (File name does not include extension)
5-2
5
5.1
DX100
Save
The transmission from the DX100 to a host computer proceeds as follows.
DX100 → Host computer
1. The ENQ is sent from the host computer to establish a data link.
2. After the data link is established, a request to send is sent from the
host computer.
3. The request to send consists of a header number and a subcode
number. Refer to the header number list.
4. After the request to send is accepted, the host computer should get
ready to receive data.
The DX100 sends the ENQ code to establish a data link.
5. After the data link is established, receive the data sent from the
DX100. The transmission terminates at completion of reception.
If the data requested to send are not found, or the header of the
request to send has an error, the DX100 sends the following response
message instead of data.
Check the header and take an appropriate action.
SOH 90,000 STX DATA CR ETX BCC
Fig. 5-2: Saving File Data (Host Control Function)
ENQ
ACK0
SOH 02, 051 STX
*2
File name
ETX
BCC
ACK1
EOT
ENQ
ACK0
SOH 02, 001 STX
ETB
BCC
STX
Data ETB
BCC
STX
Data ETX
BCC
File name
ACK1
*1
ACK
EOT
*1
*2
ACK0 or ACK1
File name : CR (File name does not include extension)
5-3
DX100
Host computer
5.1.1.2
Host Control Function of DX100
File Data Transmission Function
5
5.1
DX100
5.1.2
Host Control Function of DX100
File Data Transmission Function
Data Management
The jobs for the DX100 may refer to another job or condition data
according to instructions. When saving a single job or condition data to
the host computer, the correspondence between job and files should be
controlled.
To reduce this labor, the related jobs and condition data can be
transmitted in a batch as the related job data.
When specification of “related job data” is made, the master job, the
related job, and the related condition data are transmitted sequentially.
The header number and the subcode number indicate that the related job
data are added.
Refer to the header number list.
5-4
5
5.2
DX100
5.2
Host Control Function of DX100
Robot Control Function
Robot Control Function
To control manipulators by a host computer, the host control function can
executes the commands listed in the outline.
5.2.1
Command Transmission
The command transmission proceeds as follows.
1. The ENQ code is sent from the host computer to establish a data link.
2. After the data link is established, commands are sent. Commands and
file data are distinguished by the header number.
Refer to the header number list.
The transmission of a command should be completed in a single
block.
The DX100 cannot receive divided single command, nor receive to
execute more than one command in a single block.
3. After the sending is completed, the host computer should get ready to
receive.
The DX100 sends the ENQ code to establish a data link.
4. After the data link is established, the DX100 sends the response for
the command and terminates the transmission.
The command format and the response format are explained in the
following.
For the command that requires returning data as a response, the
response format at normal completion of transmission is as shown in (2).
„
Command Format
SOH 01,000 STX COMMAND Data1, Data2, Data3 CR ETX BCC
„
Response Format
(1)
SOH 90,000 STX {0000 or Error code} CR ETX BCC
0000 : Normal completion
Error code : Number with 4 digits other than 0000. In case of
smaller than 1000, 0 is added before the number.
(2)
SOH 90,001 STX Data1, Data2, x x x x DataN CR ETX BCC
If the DX100 cannot execute the sent command, the DX100 returns an
interpreter message.
An example of DELETE command (delete a job) is shown.
5-5
5
5.2
Host Control Function of DX100
Robot Control Function
Fig. 5-3: Sending Command from Host Computer
ENQ
ACK0
SOH 01,000 STX
DELETE WORK-A
CR ETX
BCC
EOT
ENQ
ACK0
SOH 90,000 STX
000 CR
ETX
BCC
ACK1
EOT
5-6
Host computer
ACK1
DX100
DX100
5
5.2
DX100
5.2.2
Host Control Function of DX100
Robot Control Function
List of Interlock for Commands of Host Control Function
The executability of each command differs depending on the status of the
DX100 as shown in the following table.
Command Name
Read/Write Enabled
Only Read Enabled
Non-alarm/Non-error
Read or
Monitor
Read or
Data
Access
Operation
Activation
Editing
Job
selection
Alarm/
Error
Nonalarm/
Nonerror
Alarm/
Error
Teach Mode
Play Mode
Stop
Operating
Stop
Operating
RALARM
{
{
{
{
{
{
{
RPOSC
{
{
{
{
{
{
{
RPOSJ
{
{
{
{
{
{
{
RSTATS
{
{
{
{
{
{
{
RJSEQ
{
{
{
{
{
{
{
JWAIT
{
{
{
{
A
{
A
RGROUP
{
{
{
{
{
{
{
RJDIR
{
{
{
{
{
C
C
RUFRAME
{
{
{
{
{
C
C
UPLOAD
{
{
{
{
{
C
C
SAVEV
{
{
{
{
{
C
C
HOLD
{
{
{
{
{
C
C
RESET
{
{
{
{
{
C
C
CANCEL
{
{
{
{
{
C
C
MODE
{
{
{
{
{/A *3
C
C
CYCLE
{
{
{
{
{/A *3
C
C
SVON 0 (OFF)
{
{
{
{
{
C
C
SVON 1 (ON)
{
{
{
{
A
C
C
HLOCK
{
{
{
{
{
C
C
MDSP
{
{
{
{
{
C
C
CGROUP
{
{
{
{
{
C
C
CTASK
{
{
{
{
{
C
C
START
M
M
{/H *1
MOVE/{*2
A
C
C
MOVJ
M
M
{/H *1
MOVE/{*2
A
C
C
MOVL
M
M
{/H *1
MOVE/{*2
A
C
C
IMOV
M
M
{/H *1
MOVE/{*2
A
C
C
PMOVJ
M
M
{/H *1
MOVE/{*2
A
C
C
PMOVL
M
M
{/H *1
MOVE/{*2
A
C
C
DELETE
{
MOVE
M
M
A
C
C
CVTRJ
{
MOVE
M
M
A
C
C
CVTSJ
{
MOVE
M
M
A
C
C
WUFRAME
{
MOVE
M
M
A
C
C
DOWNLOAD
{
{/MOVE*4
{
{/MOVE*4
A
C
C
LOADV
{
{
{
{
A
C
C
SETMJ
{
MOVE
{
MOVE
A
C
C
JSEQ
{
MOVE
{
MOVE
A
C
C
5-7
DX100
5
5.2
Host Control Function of DX100
Robot Control Function
<Interpreter message>
{ : Possible to execute
A : Alarm/error occurring
2060
M : Incorrect mode
2080
H : Hold
2020 to 2050
MOVE : Manipulator moving
2010
C : No command remote setting
2100
*1
*2
*3
*4
“{” if not being held ; “H” if being held
“MOVE” if the manipulator is moving by operation other than
command ; “{” if the manipulator is moving by command since a
single command can be accepted.
“{” during an alarm ; “A” during error
Only a single job can be executed.
5-8
DX100
5.2.3
5
5.2
Host Control Function of DX100
Robot Control Function
Command that Handle Axis Data
The data transmission function of the DX100 has restrictions on handling
control axis data.
c For the following commands, the order of response data varies whether
the number of robot's axes is 6 or 7.
Object commands: RPOSJ, RPOSC, MOVJ, MOVL, IMOV, PMOVJ,
PMOVL
d Since the manipulator axes are fixed to a six-axis set, any manipulator
having more than seven axes cannot use the following commands.
Object commands: RUFRAME, WUFRAME
5.2.4
Response to MOV-type Command
The responses to MOV-type command are as follows.
• If the manipulator is moving by operations other than commands, the
interpreter message 2010 (manipulator moving) is returned and the
manipulator does not move.
• If the manipulator is in stop status, it turns ON the start lamp and
moves according to the command, and returns a response immediately.
• If the manipulator is moving according to the previous commands,
only a single command is accepted and the response is held up.
After completing execution of the preceding commands, when starting execution of the suspended command, the manipulator returns a
response.
This applied to the following commands.
MOVJ, MOVL, IMOV, PMOVJ, PMOVL
5-9
5
5.2
DX100
5.2.5
Host Control Function of DX100
Robot Control Function
Status Read Function
The details of each command are described.
5.2.5.1
Read/Monitor Command
„
RALARM
Reads the error alarm code.
Although the DX100 has the subcode to error code, it cannot read by
RALARM because the command has no argument of the subcode.
Command format : RALARM
Response format : Data-1, Data-2, xxxx, Data-10 or Error code
Data-1 = Error code (0 to 9999)
Data-2 = Error data (0 to 256)
Data-3 = Alarm code (0 to 9999)
Data-4 = Alarm data (0 to 256)
Data-5 = Alarm code (0 to 9999)
Data-6 = Alarm data (0 to 256)
Data-7 = Alarm code (0 to 9999)
Data-8 = Alarm data (0 to 256)
Data-9 = Alarm code (0 to 9999)
Data-10 = Alarm data (0 to 256)
<Example>
Command RALARM
Response 0, 1234, 12, 0, 0, 0, 0, 0, 0
5-10
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
RPOSJ
Reads the current position in joint coordinate system.
Command format : RPOSJ
Response format : Data-1, Data-2, xxxx, Data-12 or Error code
Data-1 = Number of S-axis pulses
Data-2 = Number of L-axis pulses
Data-3 = Number of U-axis pulses
Data-4 = Number of R-axis pulses
Data-5 = Number of B-axis pulses
Data-6 = Number of T-axis pulses
Data-7 = Number of E-axis (7th axis) pulses
Data-8 = Number of 8th axis pulses
Data-9 = Number of 9th axis pulses
Data-10 = Number of 10th axis pulses
Data-11 = Number of 11th axis pulses
Data-12 = Number of 12th axis pulses
<Example>
Command
Response
RPOSJ
500, 2600, 1250, 10789, 624, 36, 0, 0, 0, 0, 0, 0
5-11
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
RPOSC
Reads the current position in a specified coordinate system. Whether
there is an external axis or not can be specified.
Command format : RPOSC Data-1, Data-2
Data-1 = Specification of coordinate system
0 : Base coordinate
1 : Robot coordinate
2 : User coordinate 1
:
:
65 : User coordinate 64
Data-2 = With or Without external axis
0 : Without external axis
1 : With external axis
Response format : Data-1, Data-2, xxxx, Data-14
* The order of response data varies depending on the number of robot's
axes.
6-axis robot
7-axis robot
Data-1
X coordinate value (unit : mm,
significant 3 decimal points)
X coordinate value (unit : mm,
significant 3 decimal points)
Data-2
Y coordinate value (unit : mm,
significant 3 decimal points)
Y coordinate value (unit : mm,
significant 3 decimal points)
Data-3
Z coordinate value (unit : mm,
significant 3 decimal points)
Z coordinate value (unit : mm,
significant 3 decimal points)
Data-4
Wrist angle Rx (unit : degree (°),
significant 4 decimal points)
Wrist angle Rx (unit : degree (°),
significant 4 decimal points)
Data-5
Wrist angle Ry (unit : degree (°),
significant 4 decimal points)
Wrist angle Ry (unit : degree (°),
significant 4 decimal points)
Data-6
Wrist angle Rz (unit : degree (°),
significant 4 decimal points)
Wrist angle Rz (unit : degree (°),
significant 4 decimal points)
Data-7
Type
Elbow angle Re (unit : degree (°),
significant 4 decimal points)
Data-8
Tool number (0 to 63)
Type
Data-9
Number of 7th axis pulses
(for travel axis, mm)
Tool number (0 to 63)
Data-10
Number of 8th axis pulses
(for travel axis, mm)
Number of 7th axis pulses
(for travel axis, mm)
Data-11
Number of 9th axis pulses
(for travel axis, mm)
Number of 8th axis pulses
(for travel axis, mm)
Data-12
Number of 10th axis pulses
Number of 9th axis pulses
(for travel axis, mm)
Data-13
Number of 11th axis pulses
Number of 10th axis pulses
Data-14
Number of 12th axis pulses
Number of 11th axis pulses
Data-15
-
Number of 12th axis pulses
• “Number of 7th axis pulses” and after are added only when “With
external axis” is specified.
• If the specified user coordinate system is undefined, an error occurs.
• The data of type is represented by the following bit data coded into a
decimal number.
5-12
DX100
5
5.2
Host Control Function of DX100
Robot Control Function
D5 D4 D3 D2 D1 D0
0 : Flip
0 : Upper arm
0 : Front
0 : R<180
0 : T<180
0 : S<180
1 : No flip
1 : Lower arm
1 : Back
1 : R≥180
1 : T≥180
1 : S≥180
<Example>
Command RPOSC 2, 0
Response 100.0, 50, 34, 12.34, 180.0, 0, 0, 0, 0, 0, 0
5-13
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
RSTATS
Reads the status of mode, cycle, operation, alarm error, and servo.
Command format : RSTATS
Response format : Data-1, Data-2 or Error code
Data-1
MSB
LSB
Step
1 cycle
Auto
Running
Safety speed operation
Teach
Play
Command remote
Data-2
MSB
LSB
Hold (programming pendant)
Hold (external)
Hold (command)
Alarm occuring
Error occuring
Servo ON
<Example>
Command RSTATS
Response 1, 0
5-14
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
RJSEQ
Reads the current job name, line No. and step No.
Command format : RJSEQ
Response format : Data-1, Data-2, Data-3 or Error code
Data-1 = Read job name
Data-2 = Read line No. (0 to 9999)
Data-3 = Read step No. (0 to 999)
<Example>
Command RJSEQ
Response WORK-A, 10, 5
5-15
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
JWAIT
JWAIT is for checking operations (job) of the manipulator.
If a response is returned immediately after the job is started, in such a
case with START command, completion of the job cannot be known.
Specify a waiting time as an operand for JWAIT command.
No response is sent out until the operation of manipulator is completed or
the specified waiting time has elapsed.
JWAIT returns as a response, the information whether the operation has
completed or not.
Command format : JWAIT Time
Time = Waiting time (-1.0 to 32767 sec.)
-1.0 indicates infinite time.
Response format : Data or Error code
Data = Operation status (0 : completed, -1 : not completed)
Waits for stop of job execution.
The response varies depending on the following status.
<Status>
<Response>
END or PAUSE execution during waiting time Completed
Step execution during waiting time
Completed
Stopped by hold, alarm, emergency stop,
servo OFF during waiting time
Not completed
Stopped by changing mode during waiting
time
Not completed
Test run is interrupted during waiting time
Not completed
Waiting timeup
Not completed
Stopped (including when the control power
ON)
Completed
Stopped (hold)
Interpreter message 2020 to 2050
Stopped (Alarm/error occurring)
Interpreter message 2060
Stopped (servo OFF)
Interpreter message 2070
<Example>
Command JWAIT 10
Response 0000
5-16
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
RGROUP
Reads the current control group set by CGROUP command or CTASK
command, and the task selection status.
Command format : RGOUP
Response format : Data-1, Data-2, Data-3 or Error code
Data-1 = Robot control group information.
The control group information differs depending on the number of manipulators in the system.
D31...
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
R1: Robot 1
R2: Robot 2
R3: Robot 3
R4: Robot 4
R5: Robot 5
R6: Robot 6
R7: Robot 7
R8: Robot 8
Data-2 = Station control group information.
The control group information differs depending on the number
of manipulators in the system.
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
S1: Station 1
S2: Station 2
S3: Station 3
S4: Station 4
S5: Station 5
S6: Station 6
S7: Station 7
S8: Station 8
S9: Station 9
S10: Station 10
S11: Station 11
S12: Station 12
S13: Station 13
S14: Station 14
S15: Station 15
S16: Station 16
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
S17: Station 17
S18: Station 18
S19: Station 19
S20: Station 20
S21: Station 21
S22: Station 22
S23: Station 23
S24: Station 24
5-17
DX100
5
5.2
Host Control Function of DX100
Robot Control Function
Data-3 = Task information
0 : Master task
1 : Sub 1 task
2 : Sub 2 task
3 : Sub 3 task
4 : Sub 4 task
5 : Sub 5 task
6 : Sub 6 task
7 : Sub 7 task
In a system where independent control is not allowed, “0” is returned.
<Example>
Command RGROUP
Response 2, 1, 0
The above example shows that the current control group is robot1, robot
2 and station 1, and the task selection status is master task.
5-18
5
5.2
DX100
5.2.5.2
Host Control Function of DX100
Robot Control Function
Read/Data Access System Commands
„
RJDIR
Reads all job names, or the names of jobs related to the parent job.
Command format : RJDIR Job-Name
Job-Name = All the job names currently registered
= Parent job name
If a parent job name is specified, RJDIR reads the name of related jobs
excluding the parent job.
If there is no related child job, the command returns the null list.
If the parent job has related child jobs but they are not registered in the
system, an error occurs.
Response format : Name-1, Name-2, xxxx, Name-N or Error code
Name-1 = Job name-1 (32 characters)
Name-2 = Job name-2 (32 characters)
:
:
:
:
Name-N = Job name-N (32 characters)
<Example>
Command RJDIR MASTER-1
Response WORK-A, WORK-B, SAMPLE-1
5-19
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
RUFRAME
Reads a specified user coordinate data.
Command format : RUFRAME Data-1
Data-1 = User coordinate No.
0 : Reserved
1 : Reserved
2 : User coordinate 1
:
:
65 : User coordinate 64
Response format : Data-1, Data-2, xxxx Data-28
Data-1 = ORG X coordinate value (unit : mm, significant 3 decimal
points)
Data-2 = ORG Y coordinate value (unit : mm, significant 3 decimal
points)
Data-3 = ORG Z coordinate value (unit : mm, significant 3 decimal
points)
Data-4 = ORG wrist angle TX (unit : degree (°), significant 4 decimal
points)
Data-5 = ORG wrist angle TY (unit : degree (°), significant 4 decimal
points)
Data-6 = ORG wrist angle TZ (unit : degree (°), significant 4 decimal
points)
Data-7 = ORG type
Data-8 = XX X coordinate value (unit : mm, significant 3 decimal
points)
Data-9 = XX Y coordinate value (unit : mm, significant 3 decimal
points)
Data-10 = XX Z coordinate value (unit : mm, significant 3 decimal
points)
Data-11 = XX wrist angle TX (unit : degree (°), significant 4 decimal
points)
Data-12 = XX wrist angle TY (unit : degree (°), significant 4 decimal
points)
Data-13 = XX wrist angle TZ (unit : degree (°), significant 4 decimal
points)
Data-14 = XX type
Data-15 = XY X coordinate value (unit : mm, significant 3 decimal
points)
Data-16 = XY Y coordinate value (unit : mm, significant 3 decimal
points)
Data-17 = XY Z coordinate value (unit : mm, significant 3 decimal
points)
Data-18 = XY wrist angle TX (unit : degree (°), significant 4 decimal
points)
Data-19 = XY wrist angle TY (unit : degree (°), significant 4 decimal
points)
Data-20 = XY wrist angle TZ (unit : degree (°), significant 4 decimal
points)
Data-21 = XY type
Data-22 = Tool No. (0 to 63)
Data-23 = Number of 7th axis pulses (for travel axis, mm)
Data-24 = Number of 8th axis pulses (for travel axis, mm)
5-20
DX100
5
5.2
Host Control Function of DX100
Robot Control Function
Data-25 = Number of 9th axis pulses (for travel axis, mm)
Data-26 = Number of 10th axis pulses
Data-27 = Number of 11th axis pulses
Data-28 = Number of 12th axis pulses
• ORG, XX, XY coordinates are read in the base coordinate system.
• In a system having no external axis, Data-23 to Data-28 are “0”.
• If the specified user coordinate system is not registered, an error
occurs.
• If the group axis of the specified user coordinate system is not R1, an
error occurs.
• If ORG, XX, and XY have different base axis data, an error occurs.
• For 7-axis robots, this command cannot be used.
<Example>
Command RUFRAME 2
Response 600.0, 12.34, 500.0, 180.0, 0.0, 0.0, 0, xxxx, 0
5-21
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
SAVEV
Sends variable data to a host computer.
Command format : SAVEV Data-1, Data-2
Data-1 : Type of variables
0 : Byte type variables
1 : Integer type variables
2 : Double precision type variables
3 : Real number type variables
4 : Robot axis position type variables
5 : Base axis position type variables
6 : Station axis position type variables (only pulse type)
7 : String variables
Data-2 : Variable No.
Response format : Data-1, Data-2, Data-3, xxxx, Data-11 or Error code
Data-1 = Byte value / Integer value / Double precision integer value /
Real number value / Position data type / String
Position data type = 0 : Pulse type
1 : Cartesian type
(When the position data type is “0”)
* The order of response data varies depending on the number of robot's
axes.
6-axis robot
7-axis robot
Data-2
Number of S-axis pulses /
Number of base 1st axis pulses /
Number of station 1st axis pulses
Number of S-axis pulses /
Number of base 1st axis pulses /
Number of station 1st axis pulses
Data-3
Number of L-axis pulses /
Number of L-axis pulses /
Number of base 2nd axis pulses / Number of base 2nd axis pulses /
Number of station 2nd axis pulses Number of station 2nd axis pulses
Data-4
Number of U-axis pulses /
Number of U-axis pulses /
Number of base 3rd axis pulses / Number of base 3rd axis pulses /
Number of station 3rd axis pulses Number of station 3rd axis pulses
Data-5
Number of R-axis pulses /
Number of base 4th axis pulses /
Number of station 4th axis pulses
Number of R-axis pulses /
Number of base 4th axis pulses /
Number of station 4th axis pulses
Data-6
Number of B-axis pulses /
Number of base 5th axis pulses /
Number of station 5th axis pulses
Number of B-axis pulses /
Number of base 5th axis pulses /
Number of station 5th axis pulses
Data-7
Number of T-axis pulses /
Number of base 6th axis pulses /
Number of station 6th axis pulses
Number of T-axis pulses /
Number of base 6th axis pulses /
Number of station 6th axis pulses
Data-8
Tool No. (0 to 63)
Number of E-axis pulses /
Number of base 7th axis pulses /
Number of station 7th axis pulses
Data-9
-
Tool No. (0 to 63)
Data-10
-
-
Data-11
-
-
5-22
DX100
5
5.2
Host Control Function of DX100
Robot Control Function
(When the position data type is “1”)
Data-2 = Coordinate data
0 : Base coordinate
1 : Robot coordinate
2 : User coordinate 1
3 : User coordinate 2
:
:
65 : User coordinate 64
66 : Tool coordinate
67 : Master tool coordinate
* The order of response data varies depending on the number of robot's
axes.
When the system contains multiple robots, the order is that of the
robot with the maximum number of axes.
6-axis robot
7-axis robot
Data-3
X coordinate value / Base 1st
Cartesian value (unit : mm,
significant 3 decimal points)
X coordinate value / Base 1st
Cartesian value (unit : mm,
significant 3 decimal points)
Data-4
Y coordinate value / Base 2nd
Cartesian value (unit : mm,
significant 3 decimal points)
Y coordinate value / Base 2nd
Cartesian value (unit : mm,
significant 3 decimal points)
Data-5
Z coordinate value / Base 3rd
Cartesian value (unit : mm,
significant 3 decimal points)
Z coordinate value / Base 3rd
Cartesian value (unit : mm,
significant 3 decimal points)
Data-6
Wrist angle Rx coordinate value
(unit : degree (°), significant 4
decimal points)
Wrist angle Rx coordinate value
(unit : degree (°), significant 4
decimal points)
Data-7
Wrist angle Ry coordinate value
(unit : degree (°), significant 4
decimal points)
Wrist angle Ry coordinate value
(unit : degree (°), significant 4
decimal points)
Data-8
Wrist angle Rz coordinate value
(unit : degree (°), significant 4
decimal points)
Wrist angle Rz coordinate value
(unit : degree (°), significant 4
decimal points)
Data-9
Form
Elbow angle Re coordinate value
(unit : degree (°), significant 4
decimal points)
Data-10
Tool No. (0 to 63)
Form
Data-11
-
5-23
Tool No. (0 to 63)
DX100
5
5.2
Host Control Function of DX100
Robot Control Function
Data of the form is a value obtained by converting the following bit data
to decimal notation.
0 : Flip
0 : Upper arm
0 : Front
0 : R<180
0 : T<180
0 : S<180
1 : No flip
1 : Lower arm
1 : Back
1 : R≥180
1 : T≥180
1 : S≥180
<Example>
Command SAVEV 0, 0
Response 123
In the above example, 123, the value of byte type variable B000, is sent
to the host computer.
5-24
5
5.2
DX100
5.2.6
5.2.6.1
Host Control Function of DX100
Robot Control Function
System Control Function
Operation System Commands
„
HOLD
Turns HOLD ON/OFF.
Command format : HOLD [Data]
Data = Specification of HOLD ON/OFF status (0 : OFF, 1 : ON)
Response format : 0000 or Error code
<Example>
Command HOLD 1
Response 0000
„
RESET
Resets an alarm of manipulator.
The transmission alarms can be reset only by the programming pendant.
Command format : RESET
Response format : 0000 or Error code
<Example>
Command RESET
Response 0000
„
CANCEL
Cancels an error.
Command format : CANCEL
Response format : 0000 or Error code
<Example>
Command CANCEL
Response 0000
5-25
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
MODE
Selects a mode.
Command format : MODE Mode-No
Mode-No. = 1 or 2
1 : Teach mode
2 : Play mode
Response format : 0000 or Error code
<Example>
Command MODE 2
Response 0000
NOTE
„
This function can be used when the external mode switch is
permitted on the OPERATING CONDITION window.
CYCLE
Selects cycle.
Command format : CYCLE Cycle-No
Cycle-No = Cycle specification (1 to 3)
1 : Step
2 : 1 cycle
3 : Auto
Response format : 0000 or Error code
<Example>
Command CYCLE 2
Response 0000
„
SVON
Turns servo power supply ON/OFF.
To turn the servo ON/OFF by this command, connect the external servo
ON (EXSVON) signal 29 of the input terminal block for the manipulator, to
30.
Command format : SVON Data
Data = Specification of servo power supply ON/OFF status
(0 : OFF, 1 : ON)
Response format : 0000 or Error code
<Example>
Command SVON 1
Response 0000
5-26
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
HLOCK
Sets an interlock between the programming pendant and I/O operation
signals.
While the interlock is ON, all operations except the followings are
prohibited.
• Emergency stop from the programming pendant
• Input signals except I/O mode change, external start, external servo
ON, cycle change, I/O prohibited, P.P/PANEL prohibited, and master
call
HLOCK is invalid while the programming pendant is in edit mode or
accessing to a file for other function.
Command format : HLOCK Data
Data = Interlock status setting (0 : OFF, 1 : ON)
Response format : 0000 or Error code
<Example>
Command HLOCK 1
Response 0000
5-27
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
MDSP
Receives message data and displays the message in the remote display
of the programming pendant.
If the currently shown display is not the remote display, it is changed
forcibly to the remote display to display the MDSP command message.
Command format : MDSP Data
Data = Message to be displayed (Max. 30 characters)
Response format : 0000 or Error code
<Example>
Command MDSP auto running
Response 0000
5-28
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
CGROUP
Changes an objective control group of various commands used in the host
control function.
The DX100 can support multiple number of manipulators and stations. In
this case, CGROUP is used when any control group for commands such
as RPOSC is to be changed.
When the power supply is started up, robot 1, base 1, and station 1 (when
a base and a stations exist) are specified.
Command format : CGROUP Data-1, Data-2
Data-1 = Robot control group specification.
A control group can be specified according to the following
data.
However, the following settings cannot be made.
• Selection of control axis which does not exist
• Specification of multiple number of manipulators
In a system with a base axis (such as travel axis), when the manipulator
with this base axis is specified, this base axis is automatically specified.
D31...
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
R1: Robot 1
R2: Robot 2
R3: Robot 3
R4: Robot 4
R5: Robot 5
R6: Robot 6
R7: Robot 7
R8: Robot 8
5-29
DX100
5
5.2
Host Control Function of DX100
Robot Control Function
Data-2 = Station control group specification. A control group can be
specified according to the following data.
However, the following settings cannot be made.
• Selection of control axis which does not exist
• Specification of multiple number of stations
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
S1: Station 1
S2: Station 2
S3: Station 3
S4: Station 4
S5: Station 5
S6: Station 6
S7: Station 7
S8: Station 8
S9: Station 9
S10: Station 10
S11: Station 11
S12: Station 12
S13: Station 13
S14: Station 14
S15: Station 15
S16: Station 16
D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16
S17: Station 17
S18: Station 18
S19: Station 19
S20: Station 20
S21: Station 21
S22: Station 22
S23: Station 23
S24: Station 24
Response format : 0000 or Error code
<Example>
Command CGROUP 2, 1
Response 0000
In the above example with two manipulators, robot 2 and station 1 are
validated.
By issuing RPOS after this command is issued, the current positions of
robot 2 and station 1 can be read.
5-30
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
CTASK (Optional)
Changes the task for control in the host control function.
When the power supply is started up or in a system where an independent
control is not allowed, this command is to be used as follows.
For details, refer to chapter 5.3 “Commands for Multi-control Group and
Independent Control Functions” at page 5-50.
• When the power supply is started up, a master task is selected as an
task to be controlled.
• CTASK cannot be used in a system where an independent control is
not allowed.
Command format : CTASK Data-1
Data-1 = Specified task
0 : Master task
1 : Sub 1 task
2 : Sub 2 task
3 : Sub 3 task
4 : Sub 4 task
5 : Sub 5 task
6 : Sub 6 task
7 : Sub 7 task
Response format : 0000 or Error code
<Example>
Command CTASK 1
Response 0000
5-31
5
5.2
DX100
5.2.6.2
Host Control Function of DX100
Robot Control Function
Start-up System Commands
„
START
Starts a job.
If a job name is specified for an operand, the relation between the job and
the master job is checked and the execution is started from the beginning
of the job.
If no job name is specified, the execution is started from the current line
number of the set execution job.
Command format : START [Job-Name]
Job-Name = Starting job name (32 characters)
Can be omitted.
Response format : 0000 or Error code
<Example>
Command : START WORK-A
Response : 0000
5-32
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
MOVJ
Moves a manipulator to a specified coordinate position in joint motion.
Command format : MOVJ Data-1, Data-2, xxxx, Data-17
Data-1 = Motion speed (0.01 to 100.0%)
Data-2 = Coordinate specification
0 : Base coordinate
1 : Robot coordinate
2 : User coordinate 1
:
:
65 : User coordinate 64
* The order varies depending on the number of robot's axes.
6-axis robot
7-axis robot
Data-3
X coordinate value (unit : mm,
significant 3 decimal points)
X coordinate value (unit : mm,
significant 3 decimal points)
Data-4
Y coordinate value (unit : mm,
significant 3 decimal points)
Y coordinate value (unit : mm,
significant 3 decimal points)
Data-5
Z coordinate value (unit : mm,
significant 3 decimal points)
Z coordinate value (unit : mm,
significant 3 decimal points)
Data-6
Wrist angle Rx (unit : degree (°),
significant 4 decimal points)
Wrist angle Rx (unit : degree (°),
significant 4 decimal points)
Data-7
Wrist angle Ry (unit : degree (°),
significant 4 decimal points)
Wrist angle Ry (unit : degree (°),
significant 4 decimal points)
Data-8
Wrist angle Rz (unit : degree (°),
significant 4 decimal points)
Wrist angle Rz (unit : degree (°),
significant 4 decimal points)
Data-9
Type
Elbow angle Re (unit : degree (°),
significant 4 decimal points)
Data-10
Tool No. (0 to 63)
Type
Data-11
Number of 7th axis pulses (for
travel axis, mm)
Tool No. (0 to 63)
Data-12
Number of 8th axis pulses (for
travel axis, mm)
Number of 7th axis pulses (for
travel axis, mm)
Data-13
Number of 9th axis pulses (for
travel axis, mm)
Number of 8th axis pulses (for
travel axis, mm)
Data-14
Number of 10th axis pulses
Number of 9th axis pulses (for
travel axis, mm)
Data-15
Number of 11th axis pulses
Number of 10th axis pulses
Data-16
Number of 12th axis pulses
Number of 11th axis pulses
Data-17
-
Number of 12th axis pulses
• In a system without external axis, Data-11 to Data-16 (for 7-axis
robots, Data-12 to Data-17) should be set to “0”.
• If a specified user coordinate is not defined, an error occurs.
Response format : 0000 or Error code
<Example>
Command MOVJ 50.0, 2, 123.1, 50.34, 10.8, 180.0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0
Response 0000
5-33
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
MOVL
Moves a manipulator to a specified coordinate position in linear motion.
Command format : MOVL Data-1, Data-2, xxxx, Data-18
Data-1 = Motion speed selection (0 : V (speed), 1 : VR (posture
speed))
Data-2 = Motion speed (0.1 to †††.†† mm/s, 0.1 to †††.†° /s)
Data-3 = Coordinate specification
0 : Base coordinate
1 : Robot coordinate
2 : User coordinate 1
:
:
65 : User coordinate 64
* The order varies depending on the number of robot's axes.
6-axis robot
7-axis robot
Data-4
X coordinate value (unit : mm,
significant 3 decimal points)
X coordinate value (unit : mm,
significant 3 decimal points)
Data-5
Y coordinate value (unit : mm,
significant 3 decimal points)
Y coordinate value (unit : mm,
significant 3 decimal points)
Data-6
Z coordinate value (unit : mm,
significant 3 decimal points)
Z coordinate value (unit : mm,
significant 3 decimal points)
Data-7
Wrist angle Rx (unit : degree (°),
significant 4 decimal points)
Wrist angle Rx (unit : degree (°),
significant 4 decimal points)
Data-8
Wrist angle Ry (unit : degree (°),
significant 4 decimal points)
Wrist angle Ry (unit : degree (°),
significant 4 decimal points)
Data-9
Wrist angle Rz (unit : degree (°),
significant 4 decimal points)
Wrist angle Rz (unit : degree (°),
significant 4 decimal points)
Data-10
Type
Elbow angle Re (unit : degree (°),
significant 4 decimal points)
Data-11
Tool No. (0 to 63)
Type
Data-12
Number of 7th axis pulses (for
travel axis, mm)
Tool No. (0 to 63)
Data-13
Number of 8th axis pulses (for
travel axis, mm)
Number of 7th axis pulses (for
travel axis, mm)
Data-14
Number of 9th axis pulses (for
travel axis, mm)
Number of 8th axis pulses (for
travel axis, mm)
Data-15
Number of 10th axis pulses
Number of 9th axis pulses (for
travel axis, mm)
Data-16
Number of 11th axis pulses
Number of 10th axis pulses
Data-17
Number of 12th axis pulses
Data-18
-
Number of 11th axis pulses
Number of 12th axis pulses
• In a system without external axis, Data-12 to Data-17 (for 7-axis
robots, Data-13 to Data-18) should be set to “0”.
• If a specified user coordinate is not defined, an error occurs.
Response format : 0000 or Error code
5-34
5
5.2
DX100
Host Control Function of DX100
Robot Control Function
<Example>
Command MOVL 0, 500.0, 2, 123.1, 50.34, 10.8, 180.0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0
Response 0000
„
IMOV
Moves a manipulator from the current position for a specified coordinate
incremental value in linear motion.
Command format : IMOV Data-1, Data-2, xxxx, Data-18
Data-1 = Motion speed selection (0 : V (speed), 1 : VR (posture
speed))
Data-2 = Motion speed (0.1 to †††.†† mm/s, 0.1 to †††.†° /s)
Data-3 = Coordinate specification
0 : Base coordinate
1 : Robot coordinate
2 : User coordinate 1
:
:
65 : User coordinate 64
66 : Tool coordinate
* The order varies depending on the number of robot's axes.
6-axis robot
7-axis robot
Data-4
X coordinate incremental value
(unit : mm, significant 3 decimal
points)
X coordinate incremental value
(unit : mm, significant 3 decimal
points)
Data-5
Y coordinate incremental value
(unit : mm, significant 3 decimal
points)
Y coordinate incremental value
(unit : mm, significant 3 decimal
points)
Data-6
Z coordinate incremental value
(unit : mm, significant 3 decimal
points)
Z coordinate incremental value
(unit : mm, significant 3 decimal
points)
Data-7
Wrist angle Rx incremental value
(unit : degree (°), significant 4
decimal points)
Wrist angle Rx incremental value
(unit : degree (°), significant 4
decimal points)
Data-8
Wrist angle Ry incremental value
(unit : degree (°), significant 4
decimal points)
Wrist angle Ry incremental value
(unit : degree (°), significant 4
decimal points)
Data-9
Wrist angle Rz incremental value
(unit : degree (°), significant 4
decimal points)
Wrist angle Rz incremental value
(unit : degree (°), significant 4
decimal points)
Data-10
Reserved
Elbow angle Re incremental
value (unit : degree (°), significant
4 decimal points)
Data-11
Tool No. (0 to 63)
Reserved
Data-12
Number of 7th axis pulses
(for travel axis, mm)
Tool No. (0 to 63)
Data-13
Number of 8th axis pulses
(for travel axis, mm)
Number of 7th axis pulses
(for travel axis, mm)
Data-14
Number of 9th axis pulses
(for travel axis, mm)
Number of 8th axis pulses
(for travel axis, mm)
Data-15
Number of 10th axis pulses
Number of 9th axis pulses
(for travel axis, mm)
Data-16
Number of 11th axis pulses
Number of 10th axis pulses
5-35
DX100
5
5.2
Host Control Function of DX100
Robot Control Function
6-axis robot
Data-17
7-axis robot
Number of 12th axis pulses
Data-18
-
Number of 11th axis pulses
Number of 12th axis pulses
• In a system without external axis, Data-12 to Data-17 (for 7-axis
robots, Data-13 to Data-18) should be set to “0”.
• If a specified user coordinate is not defined, an error occurs.
Response format : 0000 or Error code
<Example>
Command IMOV 0, 100.0, 2, 10.0, 10.0, 10.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0
Response 0000
5-36
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
PMOVJ
Moves a manipulator to a specified pulse position in joint motion.
Command format : PMOVJ Data-1, Data-2, xxxx, Data-15
* The order varies depending on the number of robot's axes.
6-axis robot
7-axis robot
Data-1
Motion speed (0.01 to 100.0 %)
Motion speed (0.01 to 100.0 %)
Data-2
Number of S-axis pulses
Number of S-axis pulses
Data-3
Number of L-axis pulses
Number of L-axis pulses
Data-4
Number of U-axis pulses
Number of U-axis pulses
Data-5
Number of R-axis pulses
Number of R-axis pulses
Data-6
Number of B-axis pulses
Number of B-axis pulses
Data-7
Number of T-axis pulses
Number of T-axis pulses
Data-8
Tool No. (0 to 63)
Number of E-axis pulses
Data-9
Number of 7th axis pulses
Tool No. (0 to 63)
Data-10
Number of 8th axis pulses
Number of 7th axis pulses
Data-11
Number of 9th axis pulses
Number of 8th axis pulses
Data-12
Number of 10th axis pulses
Number of 9th axis pulses
Data-13
Number of 11th axis pulses
Number of 10th axis pulses
Data-14
Number of 12th axis pulses
Number of 11th axis pulses
Data-15
-
Number of 12th axis pulses
• In a system without external axis, Data-9 to Data-14 (for 7-axis
robots, Data-10 to Data-15) should be set to “0”.
Response format : 0000 or Error code
<Example>
Command PMOVJ 20.0, 100, 200, 300, 400, 500, 0, 0, 0, 0, 0, 0, 0, 0
Response 0000
5-37
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
PMOVL
Moves a manipulator to a specified pulse position in linear motion.
Command format : PMOVL Data-1, Data-2, xxxx, Data-16
Data-1 = Motion speed selection (0 : V (speed), 1 : VR (posture
speed))
Data-2 = Motion speed (0.1 to †††.†† mm/s, 0.1 to †††.†° /s)
* The order varies depending on the number of robot's axes.
Data-3
6-axis robot
7-axis robot
Number of S-axis pulses
Number of S-axis pulses
Data-4
Number of L-axis pulses
Number of L-axis pulses
Data-5
Number of U-axis pulses
Number of U-axis pulses
Data-6
Number of R-axis pulses
Number of R-axis pulses
Data-7
Number of B-axis pulses
Number of B-axis pulses
Data-8
Number of T-axis pulses
Number of T-axis pulses
Data-9
Tool No. (0 to 63)
Number of E-axis pulses
Data-10
Number of 7th axis pulses
Tool No. (0 to 63)
Data-11
Number of 8th axis pulses
Number of 7th axis pulses
Data-12
Number of 9th axis pulses
Number of 8th axis pulses
Data-13
Number of 10th axis pulses
Number of 9th axis pulses
Data-14
Number of 11th axis pulses
Number of 10th axis pulses
Data-15
Number of 12th axis pulses
Number of 11th axis pulses
Data-16
-
Number of 12th axis pulses
• In a system without external axis, Data-10 to Data-15 (for 7-axis
robots, Data-11 to Data-16) should be set to “0”.
Response format : 0000 or Error code
<Example>
Command PMOVL 0, 123.0, 10, 200, 300, 400, 500, 0, 0, 0, 0, 0, 0, 0, 0
Response 0000
5-38
5
5.2
DX100
5.2.6.3
Host Control Function of DX100
Robot Control Function
Editing System Commands
„
DELETE
Deletes a specified job.
Command format : DELETE Job-Name
Job-Name = Job name to be deleted
= * : Delete all jobs
Response format : 0000 or Error code
<Example>
Command DELETE WORK-B
Response 0000
„
CVTRJ (Optional)
Converts a specified job to a relative job of a specified coordinate.
Command format : CVTRJ Data-1, Data-2
Data-1 = Name of job to be converted
Data-2 = Conversion coordinate system specification
0 : Base coordinate
1 : Robot coordinate
2 : User coordinate 1
:
:
65 : User coordinate 64
66 : Reserved
If the specified user coordinate is not defined, an error occurs.
Response format : 0000 or Error code
<Example>
Command CVTRJ TESTJOB, 2
Response 0000
NOTE
This function requires the relative job function of the DX100.
5-39
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
CVTSJ (Optional)
Converts a specified job to a standard job (pulse job) in a specified
converting method.
Command format : CVTSJ Data-1, Data-2, Data-3
Data-1 = Name of job to be converted
Data-2 = Converting method specification
0 : Previous step regarded (B-axis sign same)
1 : Form regarded
2 : Previous step regarded (R-axis travel amount minimum)
Data-3 = Reference position variable.
Position variable No. indicating the first step conversion reference position when the previous step is regarded.
Response format : 0000 or Error code
<Example>
Command CVTSJ SAMPLE01, 1, 0
Response 0000
In the above example, P000 is to be the reference point and the job
“SAMPLE01” is converted to a standard job with the form regarded.
NOTE
This function required the relative job function of the DX100.
5-40
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
WUFRAME
Writes a user coordinate data to a specified user coordinate system.
Command format : WUFRAME Data-1, Data-2, xxxx, Data-29
Data-1 = User coordinate No.
0 : Reserved
1 : Reserved
2 : User coordinate 1
:
:
65 : User coordinate 64
Data-2 = ORG X coordinate value (unit : mm, significant 3 decimal
points)
Data-3 = ORG Y coordinate value (unit : mm, significant 3 decimal
points)
Data-4 = ORG Z coordinate value (unit : mm, significant 3 decimal
points)
Data-5 = ORG wrist angle TX (unit : degree (°), significant 4 decimal
points)
Data-6 = ORG wrist angle TY (unit : degree (°), significant 4 decimal
points)
Data-7 = ORG wrist angle TZ (uunit : degree (°), significant 4 decimal
points)
Data-8 = ORG type
Data-9 = XX X coordinate value (unit : mm, significant 3 decimal
points)
Data-10 = XX Y coordinate value (unit : mm, significant 3 decimal
points)
Data-11 = XX Z coordinate value (unit : mm, significant 3 decimal
points)
Data-12 = XX wrist angle TX (unit : degree (°), significant 4 decimal
points)
Data-13 = XX wrist angle TY (unit : degree (°), significant 4 decimal
points)
Data-14 = XX wrist angle TZ (unit : degree (°), significant 4 decimal
points)
Data-15 = XX type
Data-16 = XY X coordinate value (unit : mm, significant 3 decimal
points)
Data-17 = XY Y coordinate value (unit : mm, significant 3 decimal
points)
Data-18 = XY Z coordinate value (unit : mm, significant 3 decimal
points)
Data-19 = XY wrist angle TX (unit : degree (°), significant 4 decimal
points)
Data-20 = XY wrist angle TY (unit : degree (°), significant 4 decimal
points)
Data-21 = XY wrist angle TZ (unit : degree (°), significant 4 decimal
points)
Data-22 = XY type
Data-23 = Tool No. (0 to 63)
Data-24 = Number of 7th axis pulses (for travel axis, mm)
Data-25 = Number of 8th axis pulses (for travel axis, mm)
Data-26 = Number of 9th axis pulses (for travel axis, mm)
Data-27 = Number of 10th axis pulses
5-41
DX100
5
5.2
Host Control Function of DX100
Robot Control Function
Data-28 = Number of 11th axis pulses
Data-29 = Number of 12th axis pulses
Response format : 0000 or Error code
• ORG, XX, and XY coordinate are written in the base coordinate system.
• In a system without external axis, Data-24 to Data-29 should be set
to “0”.
• If the group axis of the specified user coordinate system is not R1, an
error occurs.
• For base axis data of ORG, XX, and XY, the same data should be
used.
• For 7-axis robots, this command cannot be used.
<Example>
Command WUFRAME 2, 600.0, 12.34, 500.0, 180.0, 0.0, 0.0, 0, xxxx, 0
Response 0000
5-42
5
5.2
DX100
„
Host Control Function of DX100
Robot Control Function
LOADV
Receives variable data from a host computer and write it in a specified
variable.
Command format : LOADV Data-1, Data-2, xxxx, Data-13
Data-1 = Type of variables
0 : Byte type variables
1 : Integer type variables
2 : Double precision type variables
3 : Real number type variables
4 : Robot axis position type variables
5 : Base axis position type variables
6 : Station axis position type variables (only pulse type)
7 : String variables
Data-2 = Variable No.
Data-3 = Byte value / Integer value / Double precision type integer
value / Real number value / Position data type / String
Position data type = 0 : Pulse type
1 : Cartesian type
(When the position data type is 0)
* The order varies depending on the number of robot's axes.
6-axis robot
7-axis robot
Data-4
Number of S-axis pulses /
Number of S-axis pulses /
Number of base 1st axis pulses / Number of base 1st axis pulses /
Number of station 1st axis pulses Number of station 1st axis pulses
Data-5
Number of L-axis pulses /
Number of base 2nd axis pulses /
Number of station 2nd axis
pulses
Data-6
Number of U-axis pulses /
Number of U-axis pulses /
Number of base 3rd axis pulses / Number of base 3rd axis pulses /
Number of station 3rd axis pulses Number of station 3rd axis pulses
Data-7
Number of R-axis pulses /
Number of R-axis pulses /
Number of base 4th axis pulses / Number of base 4th axis pulses /
Number of station 4th axis pulses Number of station 4th axis pulses
Data-8
Number of B-axis pulses /
Number of B-axis pulses /
Number of base 5th axis pulses / Number of base 5th axis pulses /
Number of station 5th axis pulses Number of station 5th axis pulses
Data-9
Number of T axis pulses /
Number of T axis pulses /
Number of base 6th axis pulses / Number of base 6th axis pulses /
Number of station 6th axis pulses Number of station 6th axis pulses
Data-10
Tool No. (0 to 63)
Data-11
-
Tool No. (0 to 63)
Data-12
-
-
Data-13
-
-
5-43
Number of L-axis pulses /
Number of base 2nd axis pulses /
Number of station 2nd axis pulses
Number of E axis pulses /
Number of base 7th axis pulses /
Number of station 7th axis pulses
DX100
5
5.2
Host Control Function of DX100
Robot Control Function
(When the position data type is 1)
Data-4 = Coordinate data
Coordinate data = 0 : Base coordinate
1 : Robot coordinate
2 : User coordinate 1
3 : User coordinate 2
:
:
65 : User coordinate 64
66 : Tool coordinate
67 : Master tool coordinate
* The order of response data varies depending on the number of robot's
axes.
When the system contains multiple robots, the order is that of the
robot with the maximum number of axes.
6-axis robot
7-axis robot
Data-5
X coordinate value / Base 1st axis
Cartesian value (unit : mm,
significant 3 decimal points)
X coordinate value / Base 1st axis
Cartesian value (unit : mm,
significant 3 decimal points)
Data-6
Y coordinate value / Base 2nd
axis Cartesian value (unit : mm,
significant 3 decimal points)
Y coordinate value / Base 2nd axis
Cartesian value (unit : mm,
significant 3 decimal points)
Data-7
Z coordinate value / Base 3rd axis
Cartesian value (unit : mm,
significant 3 decimal points)
Z coordinate value / Base 3rd axis
Cartesian value (unit : mm,
significant 3 decimal points)
Data-8
Wrist angle Rx coordinate value
(unit : degree (°), significant 4
decimal points)
Wrist angle Rx coordinate value
(unit : degree (°), significant 4
decimal points)
Data-9
Wrist angle Ry coordinate value
(unit : degree (°), significant 4
decimal points)
Wrist angle Ry coordinate value
(unit : degree (°), significant 4
decimal points)
Data-10
Wrist angle Rz coordinate value
(unit : degree (°), significant 4
decimal points)
Wrist angle Rz coordinate value
(unit : degree (°), significant 4
decimal points)
Data-11
Form
Elbow angle Re coordinate value
(unit : degree (°), significant 4
decimal points)
Data-12
Tool No. (0 to 63)
Form
Data-13
-
Tool No. (0 to 63)
Data of the form is a value obtained by converting the following bit data
to decimal notation.
0 : Flip
0 : Upper arm
0 : Front
0 : R<180
0 : T<180
0 : S<180
Response format : 0000 or Error code
5-44
1 : No flip
1 : Lower arm
1 : Back
1 : R≥180
1 : T≥180
1 : S≥180
DX100
5
5.2
Host Control Function of DX100
Robot Control Function
<Example>
Command LOADV 0, 0, 123
Response 0000
In the above example, 123 is stored in the DX100 byte type variable
B000.
5-45
5
5.2
DX100
5.2.6.4
Host Control Function of DX100
Robot Control Function
Job Selection System Commands
„
SETMJ
Sets a specified job as a master job.
At the same time, the specified job is set as a execution job.
Command format : SETMJ Job-Name
Job-Name = Job name to be set
Response format : 0000 or Error code
<Example>
Command SETMJ WORK-C
Response 0000
„
JSEQ
Sets a job name and a line No.
Command format : JSEQ Data-1, Data-2
Data-1 = Job name to be set
Data-2 = Line No. to be set (0 to 9999)
Response format : 0000 or Error code
<Example>
Command JSEQ WORK-A, 10
Response 0000
5-46
DX100
5.2.7
5
5.2
Host Control Function of DX100
Robot Control Function
I/O Read/Write Function
The host control function can read out or write in (change) I/O signal
status using the host computer.
The following table shows the number of signals and the types of signals
to be sent or received by the host control function.
{ : Possible to execute
5.2.7.1
Signal
Signal Range (Qty)
Classification
Read-out Write-in
0xxxx
00010 to 02567 (2048)
General input signal
{
1xxxx
10010 to 12567 (2048)
General output signal
{
2xxxx
20010 to 22567 (2048)
External input signal
{
3xxxx
30010 to 32567 (2048)
External output signal {
4xxxx
40010 to 41607 (1280)
Specific input signal
{
5xxxx
50010 to 52007 (1600)
Specific output signal
{
7xxxx
70010 to 79997 (7992)
Auxiliary relay
{
8xxxx
80010 to 80647 (512)
Control status signal
{
82xxx
82010 to 82207 (160)
Pseudo input signal
{
25xxx
25010 to 27567 (2048)
Network input
{
{
Transmission Procedure
The transmission from the host computer proceeds as follows.
1. The ENQ code is sent from the host computer to establish a data link.
2. After the data link is established, the data is sent from the host
computer. The data transmission should be completed in a single
block.
3. After the request to send is accepted, the host computer should be
ready to receive.
The DX100 sends the ENQ code to establish the data link.
4. After the data link is established, the data sent from the DX100 is
received to terminate the transmission at completion of receipt.
The read/write function can be distinguished by the header number.
Refer to the header number list.
5-47
Host Control Function of DX100
Robot Control Function
Read-out of I/O Signal Status
ENQ
ACK0
SOH 04,051
STX
DATA-1
CR
ETX
BCC
ACK1
EOT
ENQ
DX100
5.2.7.2
5
5.2
Host computer
DX100
ACK0
SOH 90,001
STX
DATA-2
CR
ETX
BCC
ACK1
EOT
DATA-1
Command format : Data-1, Data-2
Data-1 = Start No.
Data-2 = Number of data points
DATA-2
Response format (at normal completion) : Data-1, Data-2, xxxx, Data-256
Data-1 = First 8 points of data
Data-2 = Second 8 points of data
:
:
Data-256 = Last (up to 256th) 8 points of data
Response format (at abnormal completion) :
SOH 90,000 STX Error code CR ETX BCC
Error code Number with 4 digits other than 0000
Number smaller than 1000, 0 is added before the number.
<Example> When 3 points are read out from 70010
Command 70010, 3
Response 2, 0, 5
5-48
Host Control Function of DX100
Robot Control Function
Write-in of I/O Signal Status
ENQ
ACK0
SOH 04,001
STX
DATA-3
CR
ETX
BCC
ACK1
EOT
ENQ
DX100
5.2.7.3
5
5.2
Host computer
DX100
ACK0
SOH 90,000
STX
DATA-4
CR
ETX
BCC
ACK1
EOT
DATA-3
Command format : Data-1, Data-2, Data-3, Data-4, xxxx, Data-258
Data-1 = Start No.
Data-2 = Number of data points
Data-3 = First 8 points of data
Data-4 = Second 8 points of data
:
:
Data-258 = Last (up to 256th) 8 points of data
DATA-4
Response format (at normal completion) : 0000
Response format (at abnormal completion) : Number with 4 digits other
than 0000
Number smaller than 1000, 0 is added before the number.
<Example> When status of 3 points is changed from 22010
Command 22010, 3, 4, 3, 12
Response 0000
5-49
5
5.3
DX100
5.3
5.3.1
Host Control Function of DX100
Commands for Multi-control Group and Independent Control
Functions
Commands for Multi-control Group and Independent
Control Functions
Commands for Multi-control Group
The DX100 can control more than one manipulator or station
simultaneously.
The following commands are available for this multi-control function.
• CGROUP : Changing the control group
• RGROUP : Reading the control group and task selected status
The following table shows the combination which can be set by using the
above commands.
R1
(robot 1)
R2
(robot 2)
R3
(robot 3)
R4
(robot 4)
R5
(robot 5)
R6
(robot 6)
R7
(robot 7)
R8
(robot 8)
S†1)
×
×
×
×
×
×
×
2)
×
×
×
×
×
×
×
×
z
×
×
×
×
×
×
×
z
×
z
×
×
×
×
×
×
×
×
z
×
×
×
×
×
×
z
×
×
z
×
×
×
×
×
×
×
×
z
×
×
×
×
×
z
×
×
×
z
×
×
×
×
×
×
×
×
z
×
×
×
×
z
z
z
×
×
×
×
z
×
×
×
×
×
×
×
×
z
×
×
×
z
×
×
×
×
×
z
×
×
×
×
×
×
×
×
z
×
×
z
×
×
×
×
×
×
z
×
×
×
×
×
×
×
×
z
×
z
×
×
×
×
×
×
×
z
×
×
×
×
×
×
×
×
z
z
1 Either one station among S1 to S24 can be selected in a system having several stations.
2 Base axes is included in robot axes.
The following commands have influence when the above commands are
used.
The operations of these commands are applicable to the set control
group.
Read System
Commands
Startup System
Commands
Editing System
Command
RPOSJ
RPOSC
RUFRAME
MOVJ
MOVL
IMOV
PMOVJ
PMOVL
WUFRAME
5-50
DX100
5
5.3
Host Control Function of DX100
Commands for Multi-control Group and Independent Control
Functions
5.3.2
Commands for Independent Control Function
The DX100 supports the independent control function which can execute
more than one job simultaneously.
For this independent function, the following commands are available.
• CTASK : Changing the tasks
• RGROUP : Reading the control group or task selected status
By using the above commands, a task to be controlled can be changed.
The following commands have influence when the independent control
function is used.
c Job startup (START)
Starts up a job.
When a job name specification is provided for operand, execution of
that job is started from the head of job as a task that is currently
selected.
When a job name is not specified, all tasks that are currently set are
executed from the current line No.
d Waiting for completion of startup (JWAIT)
As a response, returns the information whether the currently selected
task operation has been completed.
e Master job registration (SETMJ)
Sets a specified job as a master job, to the currently selected task.
f Job selection (JSEQ)
Sets a job name, a line No. to the currently selected task.
g Read of selected job (RJSEQ)
Reads the job name, line No., and step No. of the currently selected
task.
h Read of status (RSTATS)
Returns the system status disregarding the selected task status.
However, the “running” status differs from the conventional status ; the
“running” is entered even if only one task was operating.
5-51
5
5.4
DX100
5.4
Host Control Function of DX100
Alarm Codes
Alarm Codes
Code
Contents
Remarks
4112
Data sending error
1 : NAK retry over
2 : Timer A timeup retry over
3 : Alternating response error retry over
The EOT code is sent out and the data
link is canceled.
4113
Data receiving error
1 : Receiving timeup (Timer A)
2 : Receiving timeup (Timer B)
3 : Short heading length
4 : Long heading length
5 : Illegal header No.
6 : Text longer than 256 characters
7 : Receiving other than expected control code
For 3 to 7, the EOT code is sent out and
the data link is canceled.
4114
Transmission hardware error
1 : Overrun error
2 : Parity error
3 : Framing error
4 : Sending timeup (Timer A)
5 : Sending timeup (Timer B)
The EOT code is not sent.
4115
Transmission system block
This alarm notifies that the transmission procedure is
correct but the received contents makes inconsistency in
the system. Usually this alarm is resulted from violation of
rules on the other party or illegal notification.
1 : EOT was received while waiting for ACK
2 : EOT was received while waiting for ENQ
3 : EOT was received before receiving the last block
4 : Code other than EOT was received after receiving
the last block
For 4, the EOT code is sent out and the
data link is canceled.
4206
Transmission system error
The EOT code is not sent.
This alarm notifies an error on processing of transmission
system. This alarm occurs in the following cases.
100 Error in transmission task
• A job containing position type variable of which the value is
not set, was to be saved.
• A job which does not exist on the memory, was to be saved.
5-52
5
5.5
DX100
5.5
Host Control Function of DX100
Interpreter Message List
Interpreter Message List
The interpreter messages are classified into the following categories.
• 1xxx : Command text general error
• 2xxx : Command execution mode error
• 3xxx : Command execution error
• 4xxx : Job registration error
• 5xxx : File contents error
Table 5-1: Interpreter Message List
Code
Content
1010
Command error
1011
Error in number of command operands
1012
Command operand value range over
1013
Command operand length error
1020
Disk full of files
2010
Manipulator operating
2020
Hold by programming pendant
2030
Hold by playback panel
2040
External hold
2050
Command hold
2060
Error/alarm occurring
2070
Servo OFF
2080
Incorrect mode
2090
File accessing by other function
2100
Command remote not set
2110
This data cannot be accessed.
2120
This data cannot be loaded.
2130
Editing
3010
Turn ON the servo power.
3040
Perform home positioning.
3050
Confirm positions.
3070
Current value not made
3220
Panel lock ; mode/cycle prohibit signal is ON.
3230
Panel lock ; start prohibit signal is ON.
3350
User coordinate not taught
3360
User file destroyed
3370
Incorrect control group
3380
Incorrect base axis data
3390
Relative job conversion prohibit (at CVTRJ)
3400
Master call prohibit (parameter)
3410
Master call prohibit (lamp On during operation)
3420
Master call prohibit (teach lock)
3430
Robot calibration data not defined
3450
Robot calibration data not defined
3460
Coordinate system cannot be set.
4010
Insufficient memory capacity (job registered memory)
5-53
DX100
5
5.5
Host Control Function of DX100
Interpreter Message List
Table 5-1: Interpreter Message List
Code
Content
4012
Insufficient memory capacity (position data registered memory)
4020
Job editing prohibit
4030
Same job name exists
4040
No specified job
4060
Set a execution job.
4120
Position data destroyed
4130
Position data not exist
4140
Incorrect position variable type
4150
END instruction for job which is not master job
4170
Instruction data destroyed
4190
Invalid character in job name
4200
Invalid character in label name
4230
Invalid instruction in this system
4420
No step in job to be converted
4430
Already converted
4480
Teach user coordinate.
4490
Relative job/Independent control function not permitted
5110
Syntax error (syntax of instruction)
5120
Position data error
5130
No NOP or END instruction
5170
Format error (incorrect format)
5180
Incorrect number of data
5200
Data range over
5310
Syntax error (except instruction)
5340
Error in pseudo instruction specification
5370
Error in condition data record
5390
Error in job data record
5430
System not matched
5480
Incorrect welding function type
5-54
6
6.1
DX100
6
Data List
Header Number List
Data List
6.1
Header Number List
Contents
File Name
01, 000
Command from a external computer
02, 001
Single job data
xxxxxxxx. JBI
002
Related job data
xxxxxxxx. JBR
02, 051
Request for single job data
052
Request for related job data
02, 200
Tool data
TOOL. CND
201
Weaving condition data
WEAV. CND
202
User coordinate data
UFRAME. CND
203
Welding start condition data
ARCSRT. CND
204
Welding end condition data
ARCEND. CND
218
Motor gun pressure data
SPRESS.CND
219
Pressure data
SPRESSCL.CND
220
Open/full open position data
STROKE.DAT
221
Spot I/O allocation data
SPOTIO.DAT
222
Air gun condition data
AIRGUN.DAT
230
Air auxiliary condition
ARCSUP.DAT
232
Variable data
VAR. DAT
244
Shock detection level
SHOCKLVL.CND
250
Power source condition data
WELDER.DAT
251
Power source user definition data
WELDUDEF.DAT
264
Spot gun condition data
SGUN.DAT
265
Spot welder condition data
SWELDER.DAT
413
Clearance setting data
CLEARNCE.DAT
240
System information
SYSTEM. SYS
241
Alarm history data
ALMHIST. DAT
Request for tool data
TOOL.CND
02, 300
301
Request for weaving condition data
WEAV.CND
302
Request for user coordinate data
UFRAME.CND
303
Request for welding start condition data
ARCSRT.CND
304
Request for welding end condition data
ARCEND.CND
318
Request for motor gun pressure data
SPRESS.CND
319
Request for pressure data
SPRESSCL.CND
320
Request for open/full open position data
STROKE.DAT
321
Request for spot I/O allocation data
SPOTIO.DAT
322
Request for air gun condition data
AIRGUN.DAT
330
Request for weld auxiliary condition
ARCSUP.DAT
332
Request for variable data
VAR.DAT
344
Request for shock detection level
SHOCKLVL.CND
350
Request for power source condition data
WELDER.DAT
351
Request for power source user definition data
WELDUDEF.DAT
364
Request for spot gun condition data
SGUN.DAT
365
Request for spot welder condition data
SWELDER.DAT
6-1
DX100
6
6.1
Data List
Header Number List
Contents
File Name
513
Request for clearance setting data
CLEARNCE.DAT
340
Request for system information
SYSTEM.SYS
341
Request for alarm history data
ALMHIST.DAT
03, 001
Byte type variable
002
Integer type variable
003
Double precision type variable
004
Real number type variable
005
Robot axis position type variable (pulse type)
006
Robot axis position type variable (XYZ type)
007
External axis position type variable (pulse type)
008
External axis position type variable (XYZ type)
03, 051
Request for byte type variable
052
Request for integer type variable
053
Request for double precision type variable
054
Request for real number type variable
055
Request for robot axis position type variable
(pulse type)
056
Request for robot axis position type variable
(XYZ type)
057
Request for external axis position type variable
(pulse type)
058
Request for external axis position type variable
(XYZ type)
04, 001
Request for write-in of I/O signals
051
Request for read-out of I/O signals
90, 000
001
Command or data response (normal/error)
Command or data response (data)
6-2
6
6.2
DX100
6.2
Data List
Parameter List
Parameter List
Table 6-1: Parameter for Transmission
Parameter Contents and Set Value
Initial
Value
S2C230
0
Programming pendant operation (in remote) specification
0 : Invalid
1 : Valid
D7 D6
D5 D4 D3 D2 D1 D0
Programming pendant servo ON
([SERVO ON READY] key)
Programming pendant servo ON
(Enable Switch)
Mode change
Master call
Cycle change
Start
Reserved
RS000
Standard port protocol specification
0 : NON
1 : System reserved
2 : BSC LIKE
3 : FC1
2
Table 6-2: Parameter for Transmission (for BSC protocol)
Parameter Contents and Set Value
Initial
Value
RS030
Number of data bits
7 : 7 (bit)
8:8
8
RS031
Number of stop bits
0 : 1 (bit)
1 : 1.5
2:2
0
RS032
Parity specification
0 : No specification
1 : Odd parity
2 : Even parity
2
RS033
Transmission speed specification
1 : 150 (baud rate)
2 : 300
3 : 600
4 : 1200
5 : 2400
6 : 4800
7 : 9600
8 : 19200
7
RS034
Timer A : Sequence monitoring timer
Serves as protection against invalid response or no
response
Unit : 0.1 sec. (Setting range : 0 to 100)
30
RS035
Timer B : Text reception monitoring timer
Serves as protection against no response of text end
character
Unit : 0.1 sec. (Setting range : 0 to 255)
200
6-3
6
6.2
DX100
Data List
Parameter List
Table 6-2: Parameter for Transmission (for BSC protocol)
Parameter Contents and Set Value
Initial
Value
RS036
Retry 1 : Number of resendings of a control character for invalid
response or no response
Setting range : 0 to 30
10
RS037
Retry 2 : Number of resendings of a text for a block check error
(reception of NAK)
Setting range : 0 to 10
3
RS038
Block check method
0 : Check sum
0
6-4
7
Comparison of Data Transmission Functions
DX100
7
Comparison of Data Transmission Functions
Table 7-1: Comparison of Functions Related to Controller Basic
Functionality
Function
DX100
NX100 / XRC
Multipart Function Setup
Not supported
Not supported
Table 7-2: Comparison of Functions Related to Data Transmission (DCI)
Function
DX100
NX100 / XRC
LOADJ, SAVEJ
Supported
Supported
LOADV, SAVEV
Supported
Supported
Note that the format of
the Cartesian value for
the position type
variables varies
depending on the
number of
manipulator's axes.
Table 7-3: Comparison of Functions Related to Data Transmission
(Stand-alone)
Function
DX100
NX100 / XRC
Job (Single/Related)
Save, Load, Verify
Supported
Supported
Condition data Save,
Load, Verify
Supported
Supported
System data Save
Supported
Supported
Table 7-4: Comparison of Functions Related to Data Transmission (Host
Control)
Function
DX100
NX100 / XRC
UPLOAD
DOWNLOAD
Supported
Supported
RALARM
Supported
Supported
RPOSJ
Supported
Supported
Note that it cannot be
used for manipulators
with 7 axes or more.
RSTART
Supported
Supported
RJSEQ
Supported
Supported
RPOSC
Supported
Supported
Note that the format
Note that it cannot be
varies whether the
used for manipulators
number of
with 7 axes or more.
manipulator's axes is 6
or 7.
7-1
7
Comparison of Data Transmission Functions
DX100
Table 7-4: Comparison of Functions Related to Data Transmission (Host
Control)
Function
DX100
NX100 / XRC
JWAIT
Supported
Supported
RUFRAME
Supported
Note that it cannot be
used for manipulators
with 7 axes or more.
Supported
Note that it cannot be
used for manipulators
with 7 axes or more.
START
Supported
Supported
HOLD
Supported
Supported
RESET
Supported
Supported
CANCEL
Supported
Supported
DELETE
Supported
Supported
SETMJ
Supported
Supported
JSEQ
Supported
Supported
MODE
Supported
Supported
CYCLE
Supported
Supported
SVON
Supported
Supported
HLOCK
Supported
Supported
MDSP
Supported
Supported
MOVJ
Supported
Supported
Note that the format
Note that it cannot be
varies whether the
used for manipulators
number of
with 7 axes or more.
manipulator's axes is 6
or 7.
MOVL
Supported
Supported
Note that the format
Note that it cannot be
varies whether the
used for manipulators
number of
with 7 axes or more.
manipulator's axes is 6
or 7.
IMOV
Supported
Supported
Note that the format
Note that it cannot be
varies whether the
used for manipulators
number of
with 7 axes or more.
manipulator's axes is 6
or 7.
PMOVJ
Supported
Supported
Note that the format
Note that it cannot be
varies whether the
used for manipulators
number of
with 7 axes or more.
manipulator's axes is 6
or 7.
PMOVL
Supported
Supported
Note that the format
Note that it cannot be
varies whether the
used for manipulators
number of
with 7 axes or more.
manipulator's axes is 6
or 7.
CVTRJ
Supported
Supported
WUFRAME
Supported
Note that it cannot be
used for manipulators
with 7 axes or more.
Supported
Note that it cannot be
used for manipulators
with 7 axes or more.
7-2
7
Comparison of Data Transmission Functions
DX100
Table 7-4: Comparison of Functions Related to Data Transmission (Host
Control)
Function
DX100
NX100 / XRC
CGROUP
Supported
Supported
RGROUP
Supported
Supported
CTASK
Supported
Supported
CVTSJ
Supported
Supported
SAVEV
Supported
Supported
Note that the format of
the Cartesian value for
the position type
variables varies
depending on the
number of
manipulator's axes.
LOADV
Supported
Supported
Note that the format of
the Cartesian value for
the position type
variables varies
depending on the
number of
manipulator's axes.
7-3
8
Remote Function Setting
DX100
8
Remote Function Setting
Whether I/O remote control or command remote control should be
enabled can be set in the pseudo input display when selecting the remote
mode in the management mode.
1. Select {IN/OUT} under the main menu.
2. Select {PSEUDO INPUT SIG}.
3. Select an item.
– Select “INHIBIT IO” or “CMD REMOTE SEL”.
The item enabled is marked with “z“ while the item disabled is
marked with “{“.
– When INHIBIT IO is marked with { (disabled), the I/O remote
function is enabled. When CMD REMOTE SEL is marked with z
(enabled), the command remote function is enabled.
– When INHIBIT IO is marked with { (disabled), the I/O remote
function is enabled so that the operation from external I/O is enabled
with the programming pendant mode key set to [REMOTE].
– When INHIBIT IO is marked with z (enabled), the operation from
external I/O is disabled.
– When CMD REMOTE SEL is marked with z (enabled), the host
control function is enabled with the programming pendant mode key
set to [REMOTE].
– When CMD REMOTE SEL is marked with { (disabled), the host
control function is disabled.
– When INHIBIT P.P/PANEL is marked with { (disabled), the
operation from P.P/PANEL is enabled even in remote mode. When
INHIBIT P.P/PANEL is marked with z (enabled), the operation from
P.P/PANEL is disabled, except for the operations of emergency stop,
hold, and remote key.
8-1
DX100 OPTIONS
INSTRUCTIONS
FOR DATA TRANSMISSION FUNCTION
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone +81-93-645-7745
Fax +81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200
Fax +1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Fax +46-480-417999
Phone +46-480-417800
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Fax +82-53-382-7845
Phone +82-53-382-7844
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Fax +65-6289-3003
Phone +65-6282-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia
Phone +60-3614-08919
Fax +60-3614-08929
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand
Fax +66-2-693-4200
Phone +66-2-693-2200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Fax +86-10-6788-0542
Phone +86-10-6788-0541
MOTOMAN MOTHERSON ROBOTICS LTD.
Plot Number 195-196, First Floor, Imt Manesar -Sector 4, Gurgaon (Haryana),Pin-122050, India
Phone +91-124-475-8500
Fax +91-124-475-8542
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO. RE-CKI-A456
2009 09-10
C Printed in Japan October